CN103430041A - Pulse radar device and method for controlling same - Google Patents
Pulse radar device and method for controlling same Download PDFInfo
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- CN103430041A CN103430041A CN2012800133445A CN201280013344A CN103430041A CN 103430041 A CN103430041 A CN 103430041A CN 2012800133445 A CN2012800133445 A CN 2012800133445A CN 201280013344 A CN201280013344 A CN 201280013344A CN 103430041 A CN103430041 A CN 103430041A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/18—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein range gates are used
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/44—Monopulse radar, i.e. simultaneous lobing
- G01S13/4454—Monopulse radar, i.e. simultaneous lobing phase comparisons monopulse, i.e. comparing the echo signals received by an interferometric antenna arrangement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/288—Coherent receivers
- G01S7/2886—Coherent receivers using I/Q processing
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Abstract
The present invention provides a pulse radar device capable of constantly detecting target object information and detecting the information of a target object with a high degree of accuracy by successively updating replica signals of noise signals, and a method for controlling the same. When it is determined that the number of sets of distance data (n1) has exceeded the number of sets of overall distance data (Nr) at a step (S5), it is determined that processing of detecting the target object information has terminated, and the process advances to processing of forming the replica signal. A radar function is operated at steps (S13), (S15) and (S16), and the noise signal for each distance data is acquired at a step (S17). Then, after first, second and third background signals are formed at steps (S19), (S21) and (S23), respectively, the replica signal is formed at the step (S23).
Description
Technical field
The present invention relates to a kind of radar installations, particularly, by calculating from this device transponder pulse signal, reflected by object, again by this, install the two-way time till receiving, thereby calculate vehicle-mounted pulse radar apparatus and the control method thereof of the distance of this object.
Background technology
General pulse radar apparatus comprises: high frequency carrier modulated and only within very short time, cut out carrier frequency, thus the high frequency sending part of the transmitted signal of production burst shape; The transmitted signal that will generate at the high frequency sending part is the transmitting antenna to spatial emission as electric wave; For receive the receiving antenna of the reflection wave returned from the electric wave of transmitting antenna emission is reflected by object; Receive signal and be down-converted to the high frequency acceptance division of base band from receiving antenna input; And, calculate the base band part of the distance etc. of object from high frequency acceptance division input baseband signal.
And the high frequency sending part comprises the oscillator of the carrier wave for generating assigned frequency and the switch of the carrier wave that pulse type cuts out the oscillator generation etc.The high frequency acceptance division comprises the relevant correlator that obtains transmitted signal and reception signal and the IQ frequency mixer that is down-converted to base band for the output signal by correlator.The A/D converter section that it is digital signal from analog signal conversion that base band part comprises the baseband signal from the high frequency acceptance division; Thereby the digital signal from the A/D transducer is processed to the distance that calculates object or the digital signal processing section of the relative velocity of object; And, for the control part of gating pulse radar installations.Correlator connected/the closing control of control part to switch or the high frequency acceptance division of high frequency sending part.
As mentioned above, pulse radar apparatus comprises the high frequency sending part of processing high-frequency signal and high frequency acceptance division (below, both are referred to as to RF section) and the base band part of processing low frequency signal.Wherein, in RF section, needing to use the high price substrate applicable to high frequency, therefore, in order to reduce costs, is only RF section to be configured on the substrate applicable to high frequency at present, and base band part is configured on the low price substrate.And, as connecting the RF section be configured in respectively on different substrate and the method for base band part, started to adopt the less and cheap spininess connector of size in the past.
As mentioned above, with the spininess connector collected of cheapness, be connected to form base band part and the RF section on different substrate, exist control signal to be leaked to the problem received in signal as interfering noise signal.In this spininess connector, if being leaked to receive in signal, the useless ripples such as control signal that attached (secondary) occurs become interfering noise signal,, in the time can't obtaining sufficient receiving intensity, exist the reception signal of expectation to be buried the problem in this interfering noise signal.For this reason, the isolation (isolation) as far as possible enlarged between this spininess at present reduces the semaphore of this interfering noise signal, thereby can detect the reception signal that receiving intensity is less.
And the occurrence cause of above-mentioned interfering noise signal is different, but be present in various radar installationss, disclose for removing the technology of this interfering noise signal.Disclose in the FM-CW radar installations and overlapped the interfering noise signal minimizing processing that receives the stable noise contribution (the less noise contribution of change in time of frequency or level (level)) on signal at patent documentation 1.The noise contribution of stable storage, and deduct from the spectrum distribution that receives signal, thereby the detected object thing.
And, disclose the conducts such as interfering noise signal in obtaining pulse radar apparatus or self-mixing noise at patent documentation 2 and copied (replica) signal, it is removed from observation data, thus the technology of detected object thing accurately.
The look-ahead technique document
Patent documentation
Patent documentation 1: Japanese kokai publication hei 7-151852 communique
Patent documentation 2: Japanese Patent Application 2010-051681 communique
But, in trailer-mounted radar, mostly be and be arranged on small-sized substrate, therefore fully guarantee that the isolation between the pin of spininess connector becomes very difficult problem.And, for the interference between anti-stop signal, can be by each signal wire with fully independently coaxial cable connection, but adopt a plurality of coaxial cables in being connected between RF section and base band part, exist cost to improve, and process and thicken in mechanism, be difficult to the problems such as manufacture.
And, for pulse radar apparatus, especially when receiver side adopts correlator, pass through the IQ frequency mixer of high frequency acceptance division from the signal of oscillator output, and reflected by correlator, again by IQ frequency mixer down coversion, thereby there is the problem that produces the self-mixing noise.Especially, from the amplitude level of the signal of the object that is positioned at a distant place, diminish, therefore, likely be hidden in above-mentioned interfering noise signal or self-mixing noise.
And the disclosed technology of patent documentation 1 is the mode that deducts the low level interfering noise signal, therefore exists and can't be applicable to the problem of level higher than the interfering noise signal that receives signal.
And, in the disclosed technology of patent documentation 2, exist during obtaining the reproducing signals of noise signal etc. can't the detected object thing problem.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of pulse radar apparatus and control method thereof, reproducing signals by the generted noise signal is also removed from receive signal, thereby utilize the miniaturization of spininess connector implement device, reduce intensity simultaneously and surpass the interfering noise signal that receives signal, and upgrade at a high speed the reproducing signals of this interfering noise signal, accurately inspected object.
In order to address the above problem, first aspect according to the control method of pulse radar apparatus of the present invention, thereby the information that detects the object in the detection range of appointment with update cycle of setting in advance provides the control method of the pulse radar apparatus of information, it is characterized in that comprising: the transmitted signal treatment step, according to plural transmission control signal, the carrier wave of assigned frequency is cut into to pulse type, when control signal is used in all described plural transmissions of output, generates transmitted signal, forwarding step, using described transmitted signal as electric wave to spatial emission, receiving step, receive the reflection wave that described electric wave is reflected by object, unit sampling processing step, thereby sampled to received signal and obtained range data for each measuring distance according to receiving by control signal, wherein, described reception signal is with multiple described transmitted signal treatment step of the repetition period of appointment and described forwarding step and described receiving step and the signal received respectively, unit noise processed step, obtain the noise signal that each described range data comprises, the reproducing signals making step, utilize the noise signal obtained in described unit noise processed step to upgrade reproducing signals, and, object information detecting step, carry out described unit sampling processing step when changing described measuring distance, only carry out the first set point number, thereby obtain all described range data in described detection range, deduct described reproducing signals from described all range data, thereby detect the information of described object, wherein, first period within the described update cycle is carried out described object information detecting step, the second phase except described first period within the described update cycle, the described transmission of using in changing described transmitted signal treatment step is carried out described unit noise treatment step in the output condition of control signal and/or described measuring distance, carry out predetermined number of times, repeat described unit noise treatment step, until obtain all noise signals for all described range data, and, repeat to obtain the processing for all noise signals of described all range data.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, when described transmission control signal is X1～Xm, wherein, m >=2, in described unit noise processed step, by do not export described transmission with i in control signal send the described transmission export with control signal Xi in addition with control signal and described reception by control signal and using the signal that the described repetition period sampled for each measuring distance by control signal according to described reception while repeating described transmitted signal treatment step repeatedly and described forwarding step and described receiving step and preserved as the noise signal of each range data of i background signal, the transmission of not exporting described m is exported to described reception by control signal with the whole of control signal and using the signal that the described repetition period sampled for each measuring distance by control signal according to described reception while repeating described transmitted signal treatment step repeatedly and described forwarding step and described receiving step and preserved as the noise signal of each range data of (m+1) individual background signal.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, at described reproducing signals making step, to be formed by the noise signal of all described each range data described first～the background signal phase adduction of m deducts described (m+1) individual background signal again divided by (m-1), thereby calculates described reproducing signals.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, while bringing into use, carry out described unit noise processed step, until obtain all noise signals for all described range data, and, carry out described reproducing signals making step, thereby make the initial value of described reproducing signals.
First aspect according to pulse radar apparatus of the present invention, detect the information of the object in the detection range of appointment with update cycle of setting in advance and information is provided, described pulse radar apparatus is characterised in that, comprise: the high frequency sending part, oscillator with the carrier wave that generates assigned frequency, described high frequency sending part cuts into pulse type by control signal by described carrier wave according to plural transmission, when having exported described plural transmission with control signal whole, generates transmitted signal, transmitting antenna, from described high frequency sending part is inputted described transmitted signal as electric wave to spatial emission, receiving antenna, the reflection wave reflected by object for receiving described electric wave, the high frequency acceptance division obtains relevant to described transmitted signal according to receiving by control signal, and is converted to baseband signal from the input of described receiving antenna receives signal, and base band part comprises: input after described baseband signal the A/D converter section that is converted to digital signal, input described digital signal from described A/D converter section, and detect the digital signal processing section of described object information, export described transmission control signal to described high frequency sending part, export the control part of described reception by control signal to described high frequency acceptance division simultaneously, and, for controlling the radar function switching part of action of described digital signal processing section and described control part, described digital signal processing section also comprises: sampling processing section of unit, input described digital signal, thereby sampled and obtain range data for each measuring distance, reproducing signals preparing department, obtain the included noise signal of described range data and upgrade reproducing signals, and, object information test section, obtain all described range data in described detection range from sampling processing section of described unit, deduct described reproducing signals from described all range data, thereby detect described object information, when described transmission control signal is X1～Xm, wherein, m >=2, to not export described transmission from described control part and send described range data that the described transmission export with control signal Xi in addition obtains in sampling processing section of described unit during by control signal with control signal and the described reception noise signal as each range data with i control signal, and the signal that will consist of the noise signal of all described each range data in described detection range is during as i background signal, described reproducing signals preparing department will be from the background signal addition of described i～m, and deduct described (m+1) individual background signal, again divided by (m-1), thereby calculate described reproducing signals, the first phase chien shih described object information test section work of described radar function switching part within the described update cycle, the described reproducing signals of the second phase chien shih preparing department work except described first period within the described update cycle.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, comprising: the signal cutting step cuts into the carrier wave of assigned frequency pulse type and generates transmitted signal by control signal according to plural transmission, forwarding step, go out as electric wave described transmitted signal to spatial emission, receiving step, receive the reflection wave that described electric wave is reflected by object, correlation step, the reception signal received at described receiving step with the control signal acquisition according to reception is relevant to described transmitted signal, the down coversion step, be down-converted to the output signal of described correlation step base band and export baseband signal, the A/D switch process, input described baseband signal and be converted to digital signal, and, the digital signal processing step, the reproducing signals of making the reproducing signals of the noise signal in being included in described digital signal in the described digital signal of input make to be processed and is deducted from described digital signal the object information Check processing of information that described reproducing signals detects described object and selects any one to carry out, when described digital signal processing section carries out described object information Check processing, carry out described signal cutting step with the first pulse repetition time, when carrying out described reproducing signals making processing, carry out described signal cutting step with second pulse repetition time shorter than described the first pulse repetition time.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, when described transmission control signal is X1～Xm, wherein, m >=2, to not export described transmission while with i in control signal, sending digital signal that the described transmission export with control signal Xi in addition obtains at described A/D switch process during by control signal with control signal and described reception as i background signal at described signal cutting step, the described reproducing signals carried out in described digital signal processing step is made and is processed, acquisition sends as described i the digital signal of selecting successively described X1～Xm and obtaining at described A/D switch process when the described transmission of described signal cutting step output except described Xi used control signal with control signal and described reception with control signal Xi, respectively as first～m described background signal, and obtain at described signal cutting step and do not export when described reception is exported in the individual transmission of described m by control signal with the whole of control signal the digital signal obtained at described A/D switch process, as (m+1) individual background signal, and by first～a m background signal phase adduction deducts described (m+1) individual background signal again divided by (m-1), thereby making reproducing signals, at described object information Check processing, thereby in the digital signal of described A/D switch process acquisition deduct described reproducing signals with control signal and described reception during by control signal from the transmission of exporting described m at described signal cutting step and calculate noiselike signal, detect described object information based on this noiselike signal.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, comprising: the high frequency sending part has the oscillator of the carrier wave that generates assigned frequency, described high frequency sending part cuts into pulse type by control signal by described carrier wave according to plural transmission, generates transmitted signal, transmitting antenna, from described high frequency sending part is inputted described transmitted signal as electric wave to spatial emission, receiving antenna, the reflection wave reflected by object for receiving described electric wave, the high frequency acceptance division, comprise from described receiving antenna input receives signal according to receiving the relevant dependent part to described transmitted signal with the control signal acquisition, and, will be down-converted to from the output signal of described dependent part the down coversion section of base band, and base band part comprises: input after described baseband signal the A/D converter section that is converted to digital signal, make to process and deduct from described digital signal the object information Check processing of information that described reproducing signals detects described object at the reproducing signals of inputting described digital signal from described A/D converter section and make the reproducing signals of the included noise signal of described digital signal and select arbitrary digital signal processing section carried out, export described transmission control signal to described high frequency sending part, export the control part of described reception by control signal to described dependent part simultaneously, and, to described digital signal processing section, indicate described object information Check processing and described reproducing signals to make any one in processing, and generate the radar function switching part of the pulse repetition time of transmitted signal at described high frequency sending part to described control part indication, as the described pulse repetition time, described radar function switching part is when indicating described object information Check processing to described digital signal processing section, indicated for the first pulse repetition time to described control part, when making processing, the described reproducing signals of indication indicates second pulse repetition time shorter than described the first pulse repetition time to described control part.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, described digital signal processing section comprises: object information test section, for carrying out described object information Check processing; Reproducing signals preparing department, make processing for carrying out described reproducing signals; And selection portion, select any one in described object information test section and described reproducing signals preparing department according to the indication from described radar function switching part, output is from the digital signal of described A/D converter section input.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, when described transmission control signal is X1～Xm, wherein, m >=2, will from described control part do not export described transmission with i control signal send the described transmission export with control signal Xi in addition with control signal and described reception during by control signal from the digital signal of described A/D converter section output as i background signal, the digital signal of exporting from described A/D converter section when described reception use control signal is exported in the transmission of not exporting described m with the whole of control signal is during as (m+1) individual background signal, described control part is when inputting the indication of described the second pulse repetition time from described radar function switching part, select successively described X1～Xm as described i transmission with control signal Xi, control signal and described reception control signal for described transmission to described high frequency sending part output except described Xi, and described reception control signal is exported in the transmission of not exporting described m with the whole of control signal, when from described radar function switching part, inputting the indication of described the first pulse repetition time, exporting described m to described high frequency sending part sends by control signal and described reception control signal, digital signal processing section is when inputting the indication of described reproducing signals making processing from described radar function switching part, acquisition from the digital signal of described A/D converter section input successively as first～(m+1) individual described background signal, and by described first～a m background signal phase adduction deducts described (m+1) individual background signal again divided by (m-1), thereby make described reproducing signals, when from described radar function switching part, inputting the indication of described object information Check processing, thereby deduct described reproducing signals calculating noiselike signal from the digital signal of described A/D converter section input, detect described object information based on this noiselike signal.
According to radar installations of the present invention on the other hand, it is characterized in that, comprise: the high frequency sending part, oscillator with the carrier wave that generates assigned frequency, described high frequency sending part cuts into pulse type by control signal by described carrier wave according to plural transmission, generates transmitted signal when having exported described plural transmission with control signal whole; Transmitting antenna, from described high frequency sending part is inputted described transmitted signal as electric wave to spatial emission; Receiving antenna, the reflection wave reflected by object for receiving described electric wave; The high frequency acceptance division obtains to the relevant of described transmitted signal and is converted to baseband signal according to receiving by control signal from described receiving antenna input receives signal; And base band part comprises: at least input after described baseband signal the A/D converter section that is converted to digital signal; From described A/D converter section input that described digital signal is calculated and described object between distance and/or the azimuthal digital signal processing section of the relative velocity of described object and/or described object; and, export described transmission control signal to described high frequency sending part, export the control part of described reception by control signal to described high frequency acceptance division simultaneously, described digital signal processing section obtain from described control part do not export described plural transmission with control signal part or all and export described transmission in addition with control signal and described reception during by control signal from the digital signal of described A/D converter section output as the first background signal, and obtain while from described control part, only exporting described part or all transmission by control signal digital signal from described A/D converter section output as the second background signal, by described the first background signal and described the second background signal addition, thereby calculating reproducing signals, the digital signal of exporting from described A/D converter section during by control signal and from described oscillator outgoing carrier with the whole and described reception of control signal from the described plural transmission of described control part output deducts described reproducing signals, thereby calculating noiselike signal, distance and/or the relative velocity of described object and/or the position angle of described object based between described noiselike signal calculating and described object.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, make described oscillator outgoing carrier when obtaining described the first background signal, when obtaining described the second background signal, make described oscillator stop outgoing carrier.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, when obtaining described the first background signal and while obtaining described the second background signal, all make described oscillator outgoing carrier.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, described digital signal processing section carries out the Fourier transform processing to the digital signal from described A/D converter section input, the Fourier's composition that is equivalent to 0Hz of the digital signal of exporting from described A/D converter section during by control signal and from described oscillator outgoing carrier with the whole and described reception of control signal from the described plural transmission of described control part output deducts Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculates described noiselike signal.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, at least described base band part is formed on first substrate, described high frequency sending part and described high frequency acceptance division are formed on other substrates different from described first substrate, by transmitting the signal wire of described baseband signal and transmitting described plural transmission, with control signal and described reception, with the blanket line section that is wired to the spininess connector of conducting state of the control line separately of control signal, be located between described first substrate and described other substrates, and, the line of the described control line of separate configuration and the line of described signal wire in described line section, so that the level of signal that is leaked to described signal wire from described control line is within the dynamic range of described A/D converter section.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, described high frequency sending part also comprises: according to the first control signal, described carrier wave is cut into to first section of pulse type, and, according to the second control signal, the signal in the cutting of described first section is further cut, thereby generate second section of described transmitted signal, described high frequency acceptance division comprises: from described receiving antenna, input described reception signal and the relevant dependent part to described transmitted signal according to the 3rd control signal acquisition, and, the down coversion section that will be down-converted to base band from the output signal of described dependent part and export described baseband signal, described control part is to described first section, described second section, described dependent part is exported respectively described the first control signal, described the second control signal, thereby described the 3rd control signal is to connected/closing control of power supply separately, described digital signal processing section, using described plural transmission by control signal two as described the first control signal and described the second control signal, use control signal as the 3rd control signal described reception, thereby calculate described reproducing signals.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, will be do not export described the first control signal and described the second control signal from described control part arbitrary of described digital signal processing section and while exporting another and described the 3rd control signal from the digital signal of described A/D converter section output as described the first background signal, will be when described control part be only exported arbitrary described the first control signal and described the second control signal from the digital signal of described A/D converter section output as described the second background signal, thereby calculate described reproducing signals.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, described digital signal processing section will from described control part do not export described the first control signal and described the second control signal and while exporting described the 3rd control signal from the digital signal of described A/D converter section output as described the first background signal, in the time of will only exporting described the first control signal and described the second control signal from described control part from the digital signal of described A/D converter section output as described the second background signal, thereby calculate described reproducing signals.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, when obtaining described the first background signal, make described oscillator outgoing carrier, when obtaining described the second background signal, make described oscillator stop outgoing carrier.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, when obtaining described the first background signal and while obtaining described the second background signal, all make described oscillator outgoing carrier.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, described digital signal processing section from described control part export described the first control signal, described the second control signal and described the 3rd control signal and during from described oscillator outgoing carrier the Fourier's composition that is equivalent to 0Hz from the digital signal of described A/D converter section output deduct Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculate described noiselike signal.
According to pulse radar apparatus of the present invention on the other hand, it is characterized in that, described base band part is formed on low frequency corresponding to the working band of this base band part with on substrate, described high frequency sending part and described high frequency acceptance division are formed on high frequency corresponding to the working band of this high frequency sending part and high frequency acceptance division with on substrate, to transmit the signal wire of described baseband signal and transmit respectively described the first control signal, described the second control signal, the first control line of described the 3rd control signal, the second control line, the blanket line section that is wired to the spininess connector of conducting state of the 3rd control line is located at described low frequency and uses between substrate with substrate and described high frequency, and, the line of the described control line of separate configuration and the line of described signal wire in described line section, so that the level of signal that is leaked to described signal wire from described control line is in the dynamic range of described A/D converter section.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, comprising: carrier wave generates step, generates the carrier wave of assigned frequency; The signal cutting step, cut into described carrier wave pulse type and generate transmitted signal by control signal according to plural transmission; Forwarding step, using described transmitted signal as electric wave to spatial emission; Receiving step, receive the reflection wave that described electric wave is reflected by object; Correlation step, the reception signal received at described receiving step with the control signal acquisition according to reception is relevant to described transmitted signal; The down coversion step, be down-converted to the output signal of described correlation step base band and export baseband signal; The A/D switch process, at least input described baseband signal and be converted to digital signal; and, the digital signal processing step, input distance and/or the relative velocity of described object and/or the position angle of described object between described digital signal calculating and described object, in described digital signal processing step, acquisition described signal cutting step do not export described plural transmission with control signal part or all and export described transmission in addition by control signal and the digital signal that obtains at described A/D converter section when described correlation step is exported described reception by control signal as the first background signal, acquisition is only exported digital signal that described part or all transmission obtains at described A/D switch process when the control signal as the second background signal at described signal cutting step, by described the first background signal and the second background signal addition, thereby calculating reproducing signals, and, from the described plural transmission of described signal cutting step output with the whole of control signal and when described correlation step is exported described reception by control signal and has been carried out described carrier wave generation step the digital signal in described A/D switch process acquisition deduct described reproducing signals, thereby calculating noiselike signal, distance and/or the relative velocity of described object and/or the position angle of described object based between this noiselike signal calculating and described object.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, carry out described carrier wave and generate step when obtaining described the first background signal, do not carry out described carrier wave and generate step when obtaining described the second background signal.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, all carry out described carrier wave when obtaining described the first background signal and while obtaining described the second background signal and generate step.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, in described digital signal processing step, digital signal in described A/D switch process conversion is carried out to the Fourier transform processing, from in the described plural transmission of described signal cutting step output with the whole of control signal and deduct Fourier's composition of the 0Hz that is equivalent to described reproducing signals at the Fourier's composition that is equivalent to 0Hz of the digital signal of described A/D switch process acquisition when described correlation step is exported described reception by control signal and carried out described carrier wave generation step, thereby calculate described noiselike signal.At pulse radar apparatus of the present invention, use m(m >=2 during the generation transmitted signal) individual control signal (following referred to as the transmission control signal), process while receiving signal and use more than one control signal (following referred to as the reception control signal).Below, for convenience of explanation, take that to send be 2 (m=2) with control signal, receive and be one with control signal and describe, but be not limited thereto, transmission can have more than three by control signal, and reception can have more than two by control signal.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, described signal cutting step comprises: thus according to the first control signal, described carrier wave is cut into to the first cutting step of pulse type and the second cutting step that generates transmitted signal according to the second control signal signal that further cutting is cut at described the first cutting step, in described correlation step, obtain the relevant of described reception signal and described transmitted signal according to the 3rd control signal, in described digital signal processing step, using described plural transmission two signals of control signal as described the first control signal and described the second control signal, use control signal as described the 3rd control signal described reception, thereby calculate described reproducing signals.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, in described digital signal processing step, will described signal cutting step do not export any one of described the first control signal and described the second control signal and export another and the digital signal that obtains at described A/D switch process when described correlation step is exported described the 3rd control signal as described the first background signal, the digital signal that will obtain at described A/D switch process when described signal cutting step is only exported arbitrary in described the first control signal and described the second control signal is as described the second background signal, thereby calculate described reproducing signals.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, in described digital signal processing step, will described signal cutting step do not export described the first control signal and described the second control signal and the digital signal that obtains at described A/D switch process when described correlation step is exported described the 3rd control signal as described the first background signal, the digital signal that will obtain at described A/D switch process when described signal cutting step is only exported described the first control signal and described the second control signal is as described the second background signal, thereby calculate described reproducing signals.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, carry out described carrier wave and generate step when obtaining described the first background signal, do not carry out described carrier wave and generate step when obtaining described the second background signal.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, all carry out described carrier wave when obtaining described the first background signal and while obtaining described the second background signal and generate step.
According to the control method of pulse radar apparatus of the present invention on the other hand, it is characterized in that, the Fourier's composition that is equivalent to 0Hz of the digital signal when carrying out described the first cutting step, described the second cutting step, described correlation step deducts Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculates described noiselike signal.
At pulse radar apparatus of the present invention, have when making reproducing signals from the mode of oscillator outgoing carrier and the mode of outgoing carrier not.And, in the control method of pulse radar apparatus of the present invention, thereby thereby the mode of carrying out carrier wave generation step outgoing carrier when making reproducing signals is also arranged and does not carry out the not mode of outgoing carrier of carrier wave generation step.
The effect of invention
According to the present invention, when often can being provided, detected object thing information upgrades successively the reproducing signals of noise signal, thus the pulse radar apparatus of the information of detected object thing and control method thereof accurately.
The accompanying drawing explanation
Fig. 1 shows the process flow diagram of signal processing method of the control method of pulse radar apparatus according to an embodiment of the present invention.
Fig. 2 shows the block diagram that pulse radar apparatus according to an embodiment of the present invention forms.
Fig. 3 is the time waveform figure of the signal while there is no noise effect.
Fig. 4 is the signal time oscillogram of sneaking into useless ripple signal.
Fig. 5 enlarges the control line of demonstration pulse radar apparatus according to an embodiment of the present invention and the expanded view of signal wire.
Fig. 6 is the time waveform figure of the noise signal during not to first section output control signal of pulse radar apparatus according to an embodiment of the present invention.
Fig. 7 is the time waveform figure of the noise signal during not to second section output control signal of pulse radar apparatus according to an embodiment of the present invention.
Fig. 8 is the time waveform figure of the noise signal during not to first section of pulse radar apparatus according to an embodiment of the present invention and second section output control signal.
Fig. 9 is the time waveform figure of the reproducing signals made by pulse radar apparatus according to an embodiment of the present invention.
Figure 10 is the key diagram of the time flow of the action for pulse radar apparatus according to an embodiment of the present invention is described.
Figure 11 shows the block diagram according to the pulse radar apparatus formation of second embodiment of the invention.
Figure 12 shows the block diagram that pulse radar apparatus according to an embodiment of the present invention forms.
Figure 13 is the time waveform figure of the signal while there is no noise effect.
Figure 14 is the signal time oscillogram of sneaking into useless ripple signal.
Figure 15 enlarges the control line of demonstration pulse radar apparatus according to an embodiment of the present invention and the expanded view of signal wire.
Figure 16 is the time waveform figure of the noise signal during not to first section output control signal of pulse radar apparatus according to an embodiment of the present invention.
Figure 17 is the time waveform figure of the noise signal during not to second section output control signal of pulse radar apparatus according to an embodiment of the present invention.
Figure 18 is the time waveform figure of the noise signal during not to first section of pulse radar apparatus according to an embodiment of the present invention and second section output control signal.
Figure 19 is the time waveform figure of the reproducing signals made by pulse radar apparatus according to an embodiment of the present invention.
Figure 20 is the time waveform figure of the noise signal of chopped pulse during the repetition period.
Figure 21 is chopped pulse during the repetition period, the time waveform figure of removing the signal of reproducing signals.
Figure 22 shows the block diagram that the first pulse radar apparatus of executing mode forms according to the present invention.
Figure 23 is the time waveform figure of the signal while there is no noise effect.
Figure 24 is the signal time oscillogram of sneaking into useless ripple signal.
Figure 25 enlarges demonstration according to the control line of the pulse radar apparatus of first embodiment of the invention and the expanded view of signal wire.
Figure 26 is the time waveform figure of the noise signal during not to first section output control signal of the pulse radar apparatus of first embodiment of the invention.
Figure 27 is the time waveform figure of the noise signal while only making first section output control signal of pulse radar apparatus of first embodiment of the invention.
Figure 28 is the time waveform figure by the reproducing signals of the pulse radar apparatus making of first embodiment of the invention.
Figure 29 shows the process flow diagram of signal processing method of the pulse radar apparatus of first embodiment of the invention.
Figure 30 is the time waveform figure of the noise signal while only making first section of pulse radar apparatus second embodiment of the invention and second section output control signal.
Figure 31 is the time waveform figure of the noise signal while only making first section of pulse radar apparatus second embodiment of the invention and second section not export control signal.
Figure 32 shows the process flow diagram of the signal processing method of pulse radar apparatus second embodiment of the invention.
Embodiment
Pulse radar apparatus in the preferred implementation that present invention will be described in detail with reference to the accompanying and control method thereof.In order to simplify accompanying drawing and explanation thereof, for each component part with identical function, mark identical symbol.In pulse radar apparatus of the present invention, use m(m >=2 during the generation transmitted signal) individual control signal (following referred to as the transmission control signal), process while receiving signal and use more than one control signal (following referred to as the reception control signal).In the following description, for convenience of explanation, sending is two (m=2) by control signal, reception is one by control signal and describes, but be not limited thereto, sending can be more than three by control signal, and receiving can be also more than two by control signal.
(the first embodiment)
Below, the pulse radar apparatus with reference to Fig. 2 explanation according to first embodiment of the invention.Fig. 2 shows the block diagram of formation of the pulse radar apparatus 100 of present embodiment.At Fig. 2, pulse radar apparatus 100 comprises: high frequency sending part 110 and the high frequency acceptance division 120 of processing high-frequency signal; Process the base band part 130 of low frequency signal; For the transmitting antenna 101 to the spatial emission electric wave; And, for receiving the receiving antenna 102 of the reflection wave reflected by object.Below, for convenience of description, mean the object detected by pulse radar apparatus 100 with symbol T.
High frequency sending part 110 comprises: first section 112 and second section 113 that the oscillator 111 of the electromagnetic transmitted signal generating source of conduct of the high-frequency signal (carrier wave) of generation appointment and the high-frequency signal that will generate at oscillator 111 be cut into the pulse-like signal (pulse signal) of the time width of appointment.For example 1[ns is cut into by the high-frequency signal from oscillator 111 inputs in first section 112 and second section 113] circuit of the pulse signal of width, can utilize multiplier or switch.By adopting two signal clipper circuits of first section 112 and second section 113, can generate the pulse signal of clear (sharp) moulding.The transmitted signal of the pulse type of exporting from second section 113 is delivered to transmitting antenna 101, from transmitting antenna 101, as electric wave, is transmitted in the air.
High frequency acceptance division 120 comprises: obtain after the reception signal that input receives by receiving antenna 102 to relevant correlator 121 and the utilization of transmitted signal and the signal from correlator 121 outputs is carried out to the IQ frequency mixer 122 of down coversion from the carrier wave of oscillator 111 inputs.IQ frequency mixer 122 comprises: for the first frequency mixer 123 of the baseband signal that down-converts to the I composition; For the second frequency mixer 124 of the baseband signal that down-converts to the Q composition and the phase differential of the carrier wave from oscillator 111 input being given to 90 degree, output to the phase shifter 125 of the first frequency mixer 123 and the second frequency mixer 124.Correlator 121 takes out the signal of each measuring distance from receiving signal, and it is outputed to the first frequency mixer 123 and the second frequency mixer 124.
In the pulse radar apparatus 100 of present embodiment, except carrying out the original processing of the signal for detection of object information, also carry out the signal of the reproducing signals for making noise signal and process.Make processing, the unit's of being provided with sampling processing 132a of section, object information test section 132b, the 132c of reproducing signals preparing department in digital signal processing section 132 in order to carry out object information Check processing and reproducing signals.The 132a of sampling processing section of unit is according to the switching command from radar function switching part 135, and any one party in object information test section 132b and the 132c of reproducing signals preparing department is exported result.
The following describes the control method of detected object thing information in the pulse radar apparatus 100 of present embodiment.In pulse radar apparatus 100, take pulse repetition time (referred to as Tp) the production burst width of appointment at high frequency sending part 110 is for example 1[ns] pulse signal, using this signal as transmitted signal from transmitting antenna 101 emissions.If around pulse is repeated, Tp is for example 1[μ s], the maximum detectable range of pulse radar apparatus 100 is 150m.And, after the reception signal received by receiving antenna 102 is down-converted to base band by high frequency acceptance division 120, output to base band part 130.In base band part 130, baseband signal is input to digital signal processing section 132 after being converted to digital signal by A/D converter section 131.
Once, from a pulse signal of high frequency sending part 110 outputs, receive its reflection wave, the signal taken out in a plurality of measuring distances by correlator 121.Below, by the quantity of this measuring distance, be Np.Each that plays before arriving Np of next pulse repetition period Tp at output pulse signal be (below referred to as sampling instant) constantly, obtains and receive the relevant of signal and transmitted signal, thereby obtain the signal in the measuring distance of Np.Signal in the measuring distance of Np obtained at correlator 121 is converted to digital signal by A/D converter section 131 after being down-converted to respectively base band, and the 132a of sampling processing section of the unit of outputing to.
For the signal in the measuring distance of above-mentioned Np that obtains the specified quantity group, in the situation that do not change the pulse signal of sampling instant with pulse repetition time Tp output predetermined number of times.Afterwards, the digital value for the signal of each measuring distance accumulation from the measuring distance of Np of each reception signal acquisition at the 132a of sampling processing section of unit.Below the signal in the measuring distance of Np is accumulated respectively to the digital signal that obtains after predetermined number of times referred to as range data.When detected object thing information, the range data obtained in the 132a of sampling processing section of unit accumulation outputs to object information test section 132b.
Once obtain the range data of a group, then the sampling instant of Np is staggered respectively, in the same manner as described above, the pulse signal of emission predetermined number of times, obtain stagger some range data of measuring distance.Below in the same manner, by Np, individual sampling instant is staggered respectively, and some launch the pulse signal of predetermined number of times, thereby obtain the interior full distance data of detection range scope of appointment.Below, thus it is Nr that the sampling instant of the Np of staggering obtains the number of times (the first set point number) that each range data obtains till full distance data., the full distance data consist of the range data of Nr group.The full distance data are input in object information test section 132b, at object information test section 132b based on this full distance Data Detection object information.
In the pulse radar apparatus 100 of the present embodiment with said structure, form each parts of high frequency sending part 110 and high frequency acceptance division 120 in tens of ghz band work, on the contrary, each parts that form base band part 130 are in the band operation of 2GHz degree at the most.Therefore as mentioned above, the frequency of operation of high frequency sending part 110 and high frequency acceptance division 120 and the frequency of operation of base band part 130 differ greatly, and preferably are respectively formed at and are designed on different substrate that different frequency uses.In the present embodiment, high frequency sending part 110 and high frequency acceptance division 120 are formed on to high frequency with on substrate 103, base band part 130 is formed on to low frequency with on substrate 104.And, for sending the transmitting antenna 101 and the receiving antenna 102 that receive high-frequency signal, also be configured in substrate 103 for high frequency.
For the price of the substrate of high frequency higher than the low frequency substrate, therefore, in the present embodiment, at only configuring high-frequency sending part 110, high frequency acceptance division 120, transmitting antenna 101, receiving antenna 102 on substrate 103 for the high frequency of high price, the base band part 130 of processing low frequency signal is configured in to low frequency at a low price with on substrate 104.Thereby, can reduce the cost of pulse radar apparatus 100.
As above explanation, need to adopt each parts separate configuration of pulse radar apparatus 100 with time on substrate 104 with substrate 103 and low frequency at high frequency for being electrically connected to high frequency and use the unit of the parts on substrate 104 with the parts on substrate 103 and low frequency.In the pulse radar apparatus 100 of present embodiment, can use the low price of current use and small-sized spininess connector 105.Be sent to high frequency for high frequency sending part 110 and high frequency acceptance division 120 substrate 103 on by the control signal of control part 133 outputs substrate 104 via connector 105 from low frequency.And, from high frequency, by the baseband signal of high frequency acceptance division 120 outputs substrate 103, via connector 105, be delivered to the base band part 130 on substrate 104 for low frequency.
As mentioned above, utilize existing spininess connector 105 delivery control signals and baseband signal with substrate 103 and low frequency between with substrate 104 at high frequency, sneak in the baseband signal that the signal intensity of the information that comprises object T is lower from the interfering noise signal of control signal.And, from the carrier wave of oscillator 111 outputs, by IQ frequency mixer 122, by correlator 121, reflected, and the self-mixing noise again produced by IQ frequency mixer 122 down coversions is also sneaked in baseband signal.Especially, when object T is positioned at a distant place, from the amplitude level of the reflected signal of object T, diminish, therefore, sometimes stashed by above-mentioned interfering noise signal or self frequency-changing's noise.
Therefore, in the pulse radar apparatus 100 of present embodiment, make and sneak into by the reproducing signals of the useless ripples such as noise in the baseband signal of connector 105, when detected object thing T, from baseband signal, remove this reproducing signals.Change or apply vibration etc. such as peripheral temperature, the useless ripple such as above-mentioned interfering noise signal or self-mixing noise just changes.Therefore, use after preferably upgrading successively the reproducing signals of useless ripple, for example regular update is for well.
The reproducing signals example of useless ripple is described with reference to Fig. 3, Fig. 4.Fig. 3 shows the time waveform figure of signal 10 examples, be transmitted in from transmitting antenna 101 pulse signal that high frequency sending part 110 generates, receive at receiving antenna 102 reflection wave reflected by object T, and processed picked up signal 10(in addition in digital signal processing section 132, transverse axis means distance in respect of time.Also identical in Fig. 4 below, Fig. 6～Fig. 9).The waveform when waveform of the signal 10 shown in Fig. 3 is not affected by noise.And Fig. 4 is the time waveform figure while sneaking into the signal of above-mentioned useless ripple in the signal 10 shown in Fig. 3.The signal of symbol 11 is that simulation is illustrated in connector 105 and sneaks into interfering noise signal in baseband signal, and the signal of symbol 12 is that simulation illustrates the self-mixing noise.
In the present embodiment, make successively the reproducing signals of the useless ripple of the interfering noise signal 11 shown in Fig. 4 and 12 merging of self-mixing signal, and it is kept to storage part 134.During each the making, the reproducing signals be kept in storage part 134 is updated to up-to-date reproducing signals.Afterwards, starting impulse radar installations 100 carrys out detected object thing T, and the signal that can process by digital signal processing section 132 from high frequency acceptance division 120 is inputted base band part 130 via connector 105 deducts above-mentioned reproducing signals and obtains the signal shown in Fig. 3 (noiselike signal).
At Fig. 2, the control line (the first control line) that outputs to the control signal (the first control signal) of first section 112 and transmit this control signal from control part 133 is respectively A, a, the control line (the second control line) that outputs to the control signal (the second control signal) of second section 113 and transmit this control signal from control part 133 is respectively B, b, and the control line (the 3rd control line) that outputs to the control signal (the 3rd control signal) of correlator 121 and transmit this control signal from control part 133 is respectively C, c.Control signal A, B are respectively to the connected/closing control of power supply of first section 112, second section 113, and control signal C is to connected/closing control of the power supply of correlator 121.Here, the first control signal and two signals of the second control signal are used control signal for sending, and the 3rd control signal is used control signal for receiving.The transmission of pulse radar apparatus of the present invention and control method thereof is not limited to above-mentioned quantity with control signal and reception by the quantity of control signal, can be respectively more control signal.
And, the signal wire that will output to the baseband signal (I composition) of A/D converter section 131 and transmit this baseband signal from the first frequency mixer 123 of IQ frequency mixer 122 is respectively D, d, and the signal wire that outputs to the baseband signal (Q composition) of A/D converter section 131 and transmit this baseband signal from the second frequency mixer 124 is respectively E, e.Above-mentioned control line a, b, c and signal wire d, e are all via the different pin of connector 105.
Below, the action while with reference to Fig. 2, describing pulse radar apparatus 100 detected object thing information in detail.When carrying out the processing of object information detection, at first, from radar function switching part 135 to control part 133 and the 132a of sampling processing section of unit of digital signal processing section 132 send the switching command of indication detected object thing information.Once control part 133 has the switching command of indication detected object thing information from 135 inputs of radar function switching part, pass through control line a, b to export control signal A, B to first section 112 and second section 113 suitable opportunity.By control signal A, B, the about 1[ns of power connection of first section 112 and second section 113], the carrier wave generated by oscillator 111 is cut into 1[ns] pulse width.Thereby, generate the 1[ns of the carrier wave of assigned frequency] transmitted signal of width-pulse, transmitting antenna 101 as electric wave to this signal of air-launched.The electric wave of launching is positioned at the locational object T reflection of leaving distance L, by receiving antenna 102, receives.
And, according to the switching command from radar function switching part 135, from control part 133 by control line c with the timing of appointment to correlator 121 output control signal C, the power supply of correlator 121 is switched on, and can obtain the relevant of reception signal that receiving antenna 102 receives and transmitted signal.Down-convert to compound baseband signal from the signal of correlator 121 outputs by IQ frequency mixer 122.In the first frequency mixer 123 and the second frequency mixer 124, baseband signal D separately, the E of down coversion input the A/D converter section 131 of base band part 130 by signal wire d, e, and are converted to digital signal at this.The 132a of sampling processing section of unit of this digital signal supplied with digital signal handling part 132.
The digital signal from 131 inputs of A/D converter section of the cumulative specified quantity of the 132a of sampling processing section of unit, and make range data, according to the switching command from radar function switching part 135, to object information test section 132b output range data.Thereby object information test section 132b obtains the full distance data in the detection range scope from the 132a of sampling processing section of unit transmission range data, carry out the composite signal processing, calculate the object information of the positional information of relevant object T or relative velocity etc.The object information calculated is sent to upper computing machine 50, utilizes GUI(Graphical User Interface here: graphic user interface) carry out the processing for simple displaying object information, its result is presented at display part 51.Like this, after object information is updated, from high frequency sending part 110, again export transmitted signal, carry out the detection of the object information of next update cycle.
Control line a, b shown in Fig. 2, c and signal wire d, e connect substrate 103 and substrate 104 for low frequency for high frequency by connector 105.Each pin (terminal) of connector 105 is exposed state, although therefore flow through the signal that the signal of each terminal is small level, but around being disturbed to other terminals.Control signal A, B, C by control line a, b, c is the signal that drives RF parts (first section 112, second section 113, correlator 121) for connecting/closing, and for example has 2～3[V] signal intensity of degree.On the contrary, baseband signal D, the E by signal wire d, e is the signal that the lower signal of intensity to being reflected by object T carries out down coversion, is the low-down signal of intensity.Therefore, with baseband signal D, E, compare, control signal A, B, C are the signals that intensity is relatively very high, and in connector 105, control signal A, B, C are leaked to signal wire d, e from control line a, b, c.
Enlarge above-mentioned each control line and the signal wire in showing pulse radar apparatus 100 at Fig. 5.At Fig. 5, at connector 105, from control line a, b, c, around the signal that enters signal wire d, e, be respectively interfering noise signal α, β, γ.Interfering noise signal α, β, γ become the baseband signal D that has and pass through signal wire d, e, the signal of the roughly the same intensity of E.In Fig. 5, will be by IQ frequency mixer 122 from oscillator 111 output, and after being reflected by correlator 121 again the self-mixing psophometer in IQ frequency mixer 122 down coversions be shown δ.This self-mixing noise δ also sneaks in baseband signal D, E.Here, can configure each signal spininess connector mobile in following mode: interfering noise signal α, β, γ and baseband signal D, E are synthetic, but its signal intensity, for not making level that A/D converter section 131 is saturated, in other words, realizes isolation with each control signal and baseband signal as far as possible.
In the pulse radar apparatus 100 of present embodiment, to comprise the reproducing signals of the useless ripple of sneaking into above-mentioned each noise in baseband signal D, E and upgraded in order to make successively, by control line a, b, c, with appropriate timing, to make first section 112, second section 113 and correlator 121 work.And, the reproducing signals of obtained useless ripple is stored in storer 134, when detected object thing T, thereby deduct reproducing signals from baseband signal D, the E that will receive the signal down coversion, remove each noise.
Below, the method for making with reference to the reproducing signals of Fig. 6～9 pair useless ripple describes.Fig. 6～Fig. 9 is according to the noise signal of the control method acquisition of the pulse radar apparatus of present embodiment and the schematic diagram of reproducing signals example.When making the reproducing signals of useless ripple, once send electric wave from transmitting antenna 101 to air-launched, likely send electric wave and received by the rear receiving antenna 102 that passes through of any object thing reflection.If receive such reflection wave, can't make the reproducing signals of useless ripple.Therefore, when making the reproducing signals of useless ripple, stop from transmitting antenna 101 emissions and send electric wave.
When making reproducing signals, from radar function switching part 135 to control part 133 and the 132a of sampling processing section of unit of digital signal processing section 132 send and be switched to the switching command that reproducing signals is made.And, for control part 133, at first from 135 outputs of radar function switching part, be used to indicate the signal of the reproducing signals making of first stage.Thereby control part 133 is made as the reproducing signals of first stage, makes control signal B, C flow through control line b, c, and stops the control signal A that output stream is crossed control line a, starts radar.In pulse radar apparatus 100, while only having the power supply of connecting at the same time first section 112 and second section 113, pulse signal outputs to transmitting antenna 101.Therefore, when starting radar, control signal A does not output to first section 112, and pulse signal just can not output to transmitting antenna 101.Thereby receiving antenna 102 can not receive reflection wave yet.
Its result, sneak into control signal B, C in the 132a of sampling processing section of unit of the range data supplied with digital signal handling part 132 that interfering noise signal β, γ separately in signal wire d, e and self-mixing noise δ carry out synthetic noise signal (β+γ+δ).This range data is to be noise signal, becomes the noise signal of each range data.When the noise signal of each range data of the Nr group different from the 132a of sampling processing section of unit input measurement distance, input the noise signal of all each range data, the 132c of reproducing signals preparing department is kept at it in storage part 134 as the first background signal.Thereby, obtain the first background signal formed by noise signal (β+γ+δ) shown in Fig. 6.Fig. 6 is the time waveform example schematic diagram of noise signal (β+γ+δ).
After making, then from radar function switching part 135 to control part, 133 outputs are used to indicate the signal that the reproducing signals of subordinate phase is made to the reproducing signals that finishes the first stage.Reproducing signals as subordinate phase is made, and control part 133 makes control signal A, C flow through control line a, c, and stops the control signal B that output stream is crossed control line b, thereby starts radar.At this moment, only have the power supply of first section 112 to be switched on, the power supply of second section 113 can not be switched on, so pulse signal still can not output to transmitting antenna 101.Thereby receiving antenna 102 can not received reflection wave yet.
Its result, in the 132a of sampling processing section of unit of digital signal processing section 132, input sneaks into by control signal A, C the noise signal that interfering noise signal α, γ separately in signal wire d, e and self-mixing noise δ carry out each range data of synthetic noise signal (α+γ+δ).Once the noise signal of each range data of different Nr groups from the 132a of sampling processing section of unit input measurement distance, the 132c of reproducing signals preparing department obtains the second background signal consisted of noise signal (α+γ+δ) shown in Fig. 7.Fig. 7 is the time waveform example schematic diagram of noise signal (α+γ+δ).The 132c of reproducing signals preparing department is added in by the noise signal of the second obtained background signal (α+γ+δ) noise signal (β+γ+δ) that is kept at the first background signal in storage part 134 and goes up and preserved.
After finishing the reproducing signals making of subordinate phase, radar function switching part 135 is further exported the signal of the reproducing signals making that is used to indicate the phase III to control part 133.As the reproducing signals of phase III, make, control part 133 makes control signal C flow through control line c, and stops output stream simultaneously and cross the control signal A of control line a, b, B, thereby starts radar.At this moment, pulse signal can not output to transmitting antenna 101.Thereby receiving antenna 102 can not received reflection wave yet.
Its result, in the 132a of sampling processing section of unit of digital signal processing section 132, input is sneaked into the interfering noise signal γ of signal wire d, e and the noise signal that self-mixing noise δ carries out each range data of synthetic noise signal (γ+δ) by control signal C.Once the noise signal of each range data of the different Nr group of measuring distance is arranged from the 132a of sampling processing section of unit input, and the 132c of reproducing signals preparing department obtains the 3rd background signal consisted of noise signal (γ+δ) shown in Fig. 8.Fig. 8 is the time waveform example schematic diagram of noise signal (γ+δ).The reproducing signals preparing department noise signal of 132c from be kept at storage part 134 deducts the noise signal (γ+δ) of the 3rd obtained background signal, and preserved.
As mentioned above, add the noise signal (α+γ+δ) of the second background signal in the noise signal (β+γ+δ) of the first background signal, and deduct the noise signal (γ+δ) of the 3rd background signal, thus calculate the noise signal that all useless ripples are combined, as shown in the formula.
（β+γ+δ）+（α+γ+δ）-（γ+δ）=α+β+γ+δ
As mentioned above, preserve the reproducing signals (alpha+beta+γ+δ) that interfering noise signal α, β, γ and self-mixing noise δ is carried out to synthetic noise signal in storage part 134.The time waveform phase adduction of the time waveform of Fig. 6 and Fig. 7 is therefrom deducted to the time waveform of Fig. 8, thereby obtain the time waveform of reproducing signals (alpha+beta+γ+δ).Fig. 9 shows the time waveform of reproducing signals (alpha+beta+γ+δ) at this moment.
As described above, when making the reproducing signals of useless ripple, need to carry out the radar identical with the detection of general object information actions three times.When sending while with control signal, being m, for the radar of the reproducing signals of making useless ripple move need to carry out (m+1) inferior.Need to obtain the different range data of the measuring distance of Nr group or the noise signal of each range data when the processing detected in the object information once of carrying out or the processing that obtains a background signal.To obtain the range data of a group or the noise signal required time of each range data is the sampling time Tu of unit at the 132a of sampling processing section of unit, will carry out an object information Check processing or obtain the needed time of background signal (first period Ts) for Tu * Nr.For example, the sampling time Tu of unit is 4[ms], the group quantity Nr of range data is 20 o'clock, object information Check processing required time Ts is 4[ms] * 20=80[ms].
And, need to obtain the noise signal of each range data of Nr * 3 time when making the reproducing signals of useless ripple, and need to consume the 80[ms of three times that is equivalent to object information Check processing required time Ts] * 3=240[ms] time.Therefore can't carry out object information Check processing in the meantime, carry out successively the making of reproducing signals, detected object thing information suitably, radar function will be significantly impaired.
On the other hand, when the cycle of upgating object thing information is Tc, need to consider in the situation that the distance that between update cycle Tc, object moves is determined its setting value.And, in pulse radar apparatus 100, detected object information is sent to upper computing machine 50 and is presented at simply display part 51, so need to consider the transmission required time of object information or be processed into GUI data required time when determining the setting value of update cycle Tc.Such data transmit, machining takes time become can't upgating object thing information (also can't use even upgrade) time.For example, object information Check processing required time Ts is 80[ms] time, consider that the transmission of object information or machining take time, around upgrading, Tc for example can be set as 100[ms].
And, when utilizing pulse radar apparatus 100 to detect the automobile relatively travelled, for example, with the relative velocity of relative driving vehicle, be speed per hour 200[km/h], update time, Tc was 100[ms] time, between update time Tc, driving vehicle approaches about 5.6m relatively.If can relative driving vehicle can be detected during approaching distance such, should be no problem on safety.Therefore, below take update cycle Tc be set as to 100[ms] time describes as example.
Figure 10 (a) shows as mentioned above, by the update cycle Tc of object information, is 100[ms], object information Check processing required time Ts is 80[ms] time the time flow of action of pulse radar apparatus.At this figure, symbol 60 means update cycle Tc, symbol 61 indicated object thing information Check processing required time Ts.And, carry out transmission, the processing of object information in the time (second phase Td) meaned with symbol 62.For example, when update cycle Tc is 100[ms], it is 80[ms that object information detects required time Ts] time, the time T d that the symbol 62 of take means is 20[ms].In Figure 10, with 64 representation unit sampling time of symbol Tu.
In the timeliness motion flow of the pulse radar apparatus shown in Figure 10 (a), during the time T d meaned with symbol 62, from the high frequency sending part, do not export transmitted signal, even and output also can't be for the renewal of object information.And, make the reproducing signals of useless ripple at the initial stage of bringing into use pulse radar apparatus 100, during from bringing into use pulse radar apparatus, symbol 63 means, can't detected object thing information.In above-mentioned example, during symbol 63 expressions, be 240[ms], likely significantly affect radar function.
Therefore, in the pulse radar apparatus 100 of present embodiment, the time T d that utilization can't upgating object thing information, obtaining and making the needed data of reproducing signals during this period.Thereby, can be in the situation that do not affect the radar function making reproducing signals of detected object thing information and upgraded.Make reproducing signals and need 240[ms] time of (=Tu * Nr * 3), but time T d only has 20[ms] duration.When sending while by control signal, having m, making the reproducing signals required time, be Tu * Nr * (m+1), if m is more than 3, need for more time.Therefore, obtain a part of making in the needed data of reproducing signals during time T d, by repeating, can obtain all data that need.
As mentioned above, Figure 10 (b) shows to obtain during can't the time T d of upgating object thing information and makes that reproducing signals is needed data, the timeliness motion flow of pulse radar apparatus 100 present embodiment.As shown in the drawing, in pulse radar apparatus 100, only can't during the time T d of upgating object thing information, obtain the needed data of making reproducing signals, therefore, bring impact can to the time T s that carries out object information Check processing, can not have influence on radar function.
The least unit of the sampled data obtained by digital signal processing section 132 after starting impulse radar installations 100 is that obtaining this least unit required time is the sampling time Tu of unit in one group of range data of the 132a of sampling processing section of unit making or the noise signal of each range data.Sampling time Tu is shorter than time T d in unit, therefore during time T d, can obtain the noise signal of each range data more than a group.When the noise signal of each range data that has obtained the Nd group during time T d, the radix point following round values of the maximal value of Nd for casting out (Td/Tu).And, when the period of the needed update cycle Tc of noise signal that obtains each all range data is Nc, period Nc is by the round values of the following carry of radix point of (Nr * (m+1)/Nd).
For example, when above-mentioned value is used for to Tc, Tu, Td, Nr, the maximal value of Nd becomes 5.And, when Nd=5, until make the needed period Nc of reproducing signals, be 12.Thereby, when with the shortest time, making reproducing signals, can be with update cycle of 12 circulations, be 1.2[s] make reproducing signals.Perhaps, make each range data of carrying out during time T d noise signal obtain the processing time affluence, while being made as Nd=1, make the update cycles that reproducing signals needs 60 circulations, at this moment also can be with 6[s] make reproducing signals.6[s consuming time while therefore making reproducing signals occurs to change more slowly according to reproducing signals such as the variation of environment temperature or vibrations] there do not is a special problem yet.
As above explanation, in the pulse radar apparatus 100 of present embodiment, carry out object information Check processing and reproducing signals simultaneously and make processing, in 135 pairs of processing separately of radar function switching part, controlled.Below, the treatment scheme according to the control method of the pulse radar apparatus of present embodiment with reference to Fig. 1 explanation.Fig. 1 shows the process flow diagram according to the control method of the pulse radar apparatus of present embodiment.Here, show for upgating object thing information and upgrading the treatment scheme of carrying out between circulation Tc, also show the treatment scheme of in order to obtain, to make the required background signal of reproducing signals and carrying out simultaneously between renewal circulation Tc.
In addition, in the method for the reproducing signals of the useless ripple of making illustrated in reference Fig. 6～9, after making successively the first～three background signal, utilize this background signal to upgrade reproducing signals.The update method of reproducing signals is not limited thereto, and for example can also when obtaining the noise signal of each range data, upgrade the data of the reproducing signals corresponding with it.And, there is no need to obtain according to the order of the first～three background signal the noise signal of each range data, can obtain according to random order.Secondly for example, after the noise signal of each range data of a group of obtaining the first background signal, can obtain second or the noise signal of each range data of a group of the 3rd background signal.
Below, the situation of the data of upgrading reproducing signals when obtaining the noise signal of each range data of take describes as example.For convenience of explanation, the range data of the measuring distance of the Np that will obtain about exporting a pulse signal is Rp(i) (i=1～Np), and be Bp(i by the noise signal of each range data) (i=1～Np).And the full distance data are RA(i, j) (i=1～Np, j=1, Nr), the noise signal of each full distance data is BB(i, k) (i=1～Np, k=1～Nt), reproducing signals is BA (i, j) (i=1～Np, j=1, Nr).But, Nt=Nr * (m+1).During m=2, BB(i, k) (k=1～Nr) be the first background signal, BB(i, k) (k=(Nr+1)～2Nr) be the second background signal, BB(i, k) (k=(2Nr+1)～3Nr(=Nt)) be the 3rd background signal.
According to BA(i, j)=BB(i, j)+BB(i, j+Nr)-BB(i, j+2Nr) (i=1～Np, j=1～Nr) acquisition reproducing signals BA(i, j).
And, according to LN(k) and (i=1～Nt) obtain the production order of the noise signal of each range data.That is, in the process of making reproducing signals, if n2=LN(k), the noise signal of k each range data of making is BB(i, n2) (i=1～Np).In advance at LN(k) in set arbitrarily the order of the noise signal of making each range data.
At first, at step S1, judge whether to bring into use pulse radar apparatus 100, when being judged as while bringing into use, enter step S3, in addition, enter step S2 when being judged as in use.In step S2, n3 is initialized as to 0, n3 the group quantity of the noise signal for each range data of making reproducing signals that obtains during this renewal cycle time T d is counted.Enter afterwards step S4.
On the other hand, at step S3, carry out initialization in order to start object information Check processing and reproducing signals to make processing.Here, the group quantity of the range data that the measuring distance that will obtain for object information Check processing is different is n1, the group quantity of the noise signal of each distance that the measuring distance obtained for reproducing signals makes processing is different is n2, in step S3, n1, n2, n3 is initialized as to 0.And, set object and detect the initial value as the switching command from 135 outputs of radar function switching part.Carry out entering step S4 after initialization.
At step S4, after adding 1, the group quantity n1 of range data enters step S5.At step S5, whether the group quantity n1 of judging distance data surpasses the group quantity Nr of full distance data, and when being judged as n1 over Nr, judgement has obtained the full distance data, enters step S12.On the other hand, when being judged as n1, be below Nr, enter step S6.At step S6, start radar function.At this moment, the switching command that 133 object output thing information detect from radar function switching part 135 to control part, therefore, export all the first control signal A, the second control signal B, the 3rd control signal C, thereby obtain range data.
At following step S7, the reception signal that the operation of the radar function based on by step S6 receives, obtain range data Rp(i at the 132a of sampling processing section of unit) (i=1～Np), and export this range data Rp(i according to the switching command from radar function switching part 135 to object information test section 132b).At following step S8, by obtained range data Rp(i) (i=1～Np) be set as full distance data RA(i, N1) and preserved.At step S9, whether the group quantity n1 of judging distance data reaches the group quantity Nr of full distance data, when not reaching the group quantity Nr of full distance data, returns to step S4, in order to obtain next range data, re-starts step S4～S8.
On the other hand, when the group quantity n1 that is judged as range data in step S9 reaches the group quantity Nr of full distance data, enter following step S10, at object information test section, 132b carries out object information Check processing.In this is processed, read reproducing signals BA(i, the j made from storage part 134) (i=1～Np, j=1～Nr), full distance data RA(i, j from the 132a of sampling processing section of unit input) deduct reproducing signals BA(i, j) afterwards, detect and object between distance or the object information such as relative velocity.Afterwards, enter step S11.
At step S11, whether the noise signal n3 for each range data of making reproducing signals that judgement obtains during this renewal cycle time T d is less than its higher limit Nd, when being judged as when n3 is less than Nd, returns to step S4.While when step S10 has entered into step S11, being n3=0, so return to step S4 by the judgement of step S11.And, n1=Nr at this moment, therefore in step S4, n1 adds that 1 judgement by step S5 enters step S12.
At step S12, add respectively 1 on group quantity n2, n3, enter afterwards step S13.At step S13, according to the LN(n2 of prior making) obtain noise signal BB(i, the k of complete each range data) in the numbering k of noise signal of each range data of this acquisition.At following step S14, based on numbering, k sets control signal A, the B of the noise signal for obtaining k each range data, the condition of C.That is, set from 1≤k≤Nr obtain the first background signal, from (Nr+1)≤k≤(2Nr) obtain the second background signal, from (2Nr+1)≤k≤(3Nr) obtain condition of the 3rd background signal.At step S15, the condition that 133 outputs are set at step S14 from radar function switching part 135 to control part, thus start radar function.
At step S16, input the noise signal Bp(i of each range data from the 132a of sampling processing section of unit) (i=1～Np).And, at step S17, by the noise signal Bp(i of each range data) (i=1～Np) be set as noise signal BB(i, the k of complete each range data) and preserved.And, at step S18, according to noise signal BB(i, the k of upgraded complete each range data) and calculate reproducing signals BA(i, j) (i=1～Np, j=1～Nr) upgraded.
At step S19, judge that group quantity n2 is whether identical with the group quantity 3Nr of the noise signal of complete each range data, when group quantity n2 with organize quantity 3Nr when identical, will organize quantity n2 at step S20 and enter step S11 after being initialized as 0.In addition, when the group quantity 3Nr of group quantity n2 and the noise signal of each range data entirely is not identical, enter step S11.
At step S11, judge whether group quantity n3 is less than Nd, when being judged as group quantity n3 and being less than Nd, return to step S4, on the other hand, when group quantity n3 equals Nd, enter step S21.At step S21, will organize quantity n1 and be initialized as 0.Wait until afterwards the next circulation of upgrading.
Control method according to the pulse radar apparatus of above-mentioned present embodiment, can utilize can't upgating object thing information time T d upgrade successively reproducing signals, can upgrade reproducing signals in the situation that do not damage radar function, accurately detected object thing information.And, not only upgrade successively reproducing signals, can also for example when the power supply of make pulse radar installations 100, temporarily stop object information Check processing, make the initial value of reproducing signals.
In addition, in present embodiment, in the processing of data-signal handling part 132, in order to calculate relative velocity, input signal is carried out to composite signal processing (FFT processing), calculate Doppler's composition of object.The noise signal of the pulse radar apparatus 100 interior generations of above-mentioned explanation is stable noise, so noise signal α, β, γ, δ all do not comprise Doppler's composition, only includes the 0[Hz that is equivalent to relative velocity 0] composition.
Thereby, the background signal that processing by the 132c of reproducing signals preparing department that carries out at step S16, S17 obtains just is equivalent to the 0[Hz of relative velocity 0] noise signal of composition, the Fourier transform data of the reproducing signals (alpha+beta+γ+δ) obtained at step S18 also only include the 0[Hz that is equivalent to relative velocity 0] composition.Thereby, at above-mentioned steps S10, can be only for the full distance data being carried out to composite signal, process the 0[Hz obtained] and composition deducts reproducing signals (alpha+beta+γ+δ).
And, but while there is no need the relative velocity of measuring object thing, in digital signal processing section 132, there is no need to carry out above-mentioned FFT processing, only judge whether that the signal that the object in each range gate (gate) can be detected gets final product.And, even when there is no need the relative velocity of measuring object thing, in order to improve the SN ratio, also can carry out above-mentioned FFT processing at data-signal handling part 132, judge whether to detect the signal of the object in each range gate.At this moment be also that the range data that deducts the correspondence of reproducing signals (alpha+beta+γ+δ) from the full distance data that object information test section 132b obtains can obtain noiselike signal, therefore can be based on this noise signal detected object thing accurately.
(the second embodiment)
Pulse radar apparatus below with reference to Figure 11 explanation according to second embodiment of the invention.Figure 11 shows the block diagram of pulse radar apparatus 200 structures of present embodiment.In order to measure the position angle of (angle measurement) object T in the phase monopulse mode, the pulse radar apparatus 200 of present embodiment has two antennas of the first antenna 211 and the second antenna 212 as receiving antenna 210.Reception signal that the first antenna 211 and the second antenna 212 receive input hybrid circuit 213 exports switch 214 to after hybrid circuit 213 is converted to two that receive signals and signal (being expressed as ∑) sum and difference signals (being expressed as △).
In the present embodiment, thus selectively carry out high frequency acceptance division 120 and base band part 130 and the processing signal sum and difference signals by switching part 214 switching.With relatively moving of object T, compare, switching part 214 is with the switching of switching and signal sum and difference signals very at a high speed, and therefore, that can utilize mutual change detection comes the position angle of detected object thing T accurately with the signal sum and difference signals.In the present embodiment, in the situation that do not change the structure of high frequency acceptance division 120 and base band part 130, can carry out angle measurement with single pulse mode, thereby small-sized and pulse radar apparatus 200 cheaply can be provided.
(the 3rd embodiment)
Pulse radar apparatus below with reference to Figure 12 explanation according to third embodiment of the invention.Figure 12 shows the block diagram of pulse radar apparatus 300 formations of present embodiment.At Figure 12, pulse radar apparatus 300 comprises high frequency sending part 110 and the high frequency acceptance division 120 of processing high-frequency signal; Process the base band part 130 of low frequency signal; Be used for to the transmitting antenna 101 of spatial emission electric wave and the receiving antenna 102 that receives the reflection wave reflected by object.Below, for convenience of explanation, the object detected with symbol T indicating impulse radar installations 300.
High frequency sending part 110 comprises first section 112 and second section 113 high-frequency signal (carrier wave) that appointment occurs, be cut into the pulse-like signal (pulse signal) of the time width of appointment as the generating source oscillator 111 of electromagnetic wave transmitted signal and the high-frequency signal that will generate at oscillator 111.First section 112 and second section 113 cut into for example 1[ns by the high-frequency signal from oscillator 111 inputs] circuit of the pulse signal of width, can adopt multiplier or switch.By adopting two signal clipper circuits of first section 112 and second section 113, can generate the pulse signal of clear (sharp) moulding.The transmitted signal of the pulse type of exporting from second section 113 is delivered to transmitting antenna 101, from transmitting antenna 101, as electric wave, is transmitted in the air.
High frequency acceptance division 120 comprises: obtain after the reception signal that input receives by receiving antenna 102 to relevant correlator 121 and the utilization of transmitted signal and the signal from correlator 121 outputs is carried out to the IQ frequency mixer 122 of down coversion from the carrier wave of oscillator 111 inputs.IQ frequency mixer 122 comprises: for the first frequency mixer 123 of the baseband signal that down-converts to the I composition; For the second frequency mixer 124 of the baseband signal that down-converts to the Q composition and the phase differential of the carrier wave from oscillator 111 input being given to 90 degree, output to the phase shifter 125 of the first frequency mixer 123 and the second frequency mixer 124.Correlator 121 takes out the signal of each measuring distance from receiving signal, and it is outputed to the first frequency mixer 123 and the second frequency mixer 124.
In the pulse radar apparatus 300 of present embodiment, except carrying out the original processing of the signal for detection of object information, also carry out the signal of the reproducing signals for making noise signal and process.Make processing in order to carry out object information Check processing and reproducing signals, be provided with selection portion 332a, object information test section 132b, the 132c of reproducing signals preparing department in digital signal processing section 132.Selection portion 332a is according to the switching command from radar function switching part 135, and any one party in object information test section 132b and the 132c of reproducing signals preparing department is exported from the digital signal of A/D converter section input.
In pulse radar apparatus 300, send the electric wave of a pulse type from transmitting antenna 101, receive the pulse of the object reflection be positioned in detection range by receiving antenna 102, according to from send to receive that required time calculates and object between distance.Therefore the signal intensity of the pulse received is very low, in order to improve S/N, will after the signal integration of received pulse repeatedly, use.And received pulse comprises Doppler's composition when object moves, therefore, within the time of appointment, data are carried out to the FFT processing, thereby obtain the speed of Doppler's composition calculating object thing.During obtaining the data of processing for FFT, with pulse repetition time of appointment (below be called the first pulse repetition time Tp) transmitted continuously.
In the pulsed radar of the electric wave of the transponder pulse shape that is ultra broadband at used frequency band, in the electric wave method, be set with for limiting the regulation frequency spectrum of the upper limit that sends average electric power.In the pulse radar apparatus 300 of present embodiment, be designed to meet the electric wave method by voltage and the definite average electric power that sends to of pulse repetition time Tp of the pulse sent.
And the pulse radar apparatus 300 of present embodiment, except the Check processing that carries out object information, also carries out the making of reproducing signals and processes.In the making of reproducing signals is processed, identical action when changing controlled condition and carrying out with the Check processing that carries out object information, during can not carry out the Check processing of object information.Therefore, need to shorten the required processing time of making of reproducing signals.In order to realize this purpose, the pulse repetition time Tp short (Tz<Tp) of the pulse repetition time of the transmitted signal that in the present embodiment, the high frequency sending part 110 of reproducing signals during make processing generates (below be called the second pulse repetition time Tz) when carrying out object information Check processing.Thereby, in the situation that do not damage radar function, upgrade successively reproducing signals, accurately detected object thing information.
In pulse radar apparatus, if shorten the exomonental repetition period, increase and send average electric power, likely surpass the regulation frequency spectrum that sends average electric power.But, in the method for making of the reproducing signals of present embodiment, as the back explanation, first section 112 and second section 113 are controlled, in order to do not export transmitted signal from high frequency sending part 110 during making reproducing signals.Therefore, though repetition period of chopped pulse during the making of reproducing signals is processed only send average electric power and also can not surpass the regulation frequency spectrum.
On the other hand, chopped pulse, in the time of the repetition period, is gone back the maximum detectable range of chopped pulse radar installations 300.For example, pulse repetition time Tp is for example 1[μ s], the detection range of pulse radar apparatus 300 is 150[m to the maximum].On the contrary, pulse repetition time Tz when reproducing signals is made is for example half 0.5[μ s of Tp], can only acquire 75[m] reproducing signals of distance.But, for remote object, the precision of not necessarily having relatively high expectations, therefore when can be not for remote reproducing signals, can chopped pulse repetition period Tz.
And, as described later shown in Figure 19, the reproducing signals in a distant place, its amplitude is less.Therefore, even when not making remote reproducing signals, to the accuracy of detection of object information, can not bring considerable influence.For example, pulse repetition time Tz is shortened to 1/4 of Tp, can only acquire 37.5[m] reproducing signals, but, when judging contrast 37.5[m] more the reproducing signals in a distant place impact hour, for than 37.5[m] distant place more, can deduct reproducing signals from receiving signal.
Control method while the following describes in the pulse radar apparatus 300 of present embodiment detected object thing information.In pulse radar apparatus 100, at high frequency sending part 110 for example with the pulse repetition time Tp production burst width 1[ns of appointment] pulse signal, this pulse signal is launched from transmitting antenna 101 as transmitted signal.Pulse repetition time Tp is for example 1[μ s], the maximum detectable range of pulse radar apparatus 300 is 150m.And the reception signal received by receiving antenna 102 exports base band part 130 to after being down-converted to base band by high frequency acceptance division 120.In base band part 130, baseband signal after A/D converter section 131 is converted to digital signal, supplied with digital signal handling part 132.
In the pulse radar apparatus 300 of the present embodiment with said structure, each parts that form high frequency sending part 110 and high frequency acceptance division 120 moves at tens of GHz frequency bands, and on the contrary, each parts of formation base band part 130 are in the band operation of 2GHz degree at the most.Therefore as mentioned above, the frequency of operation of high frequency sending part 110 and high frequency acceptance division 120 and the frequency of operation of base band part 130 differ greatly, and preferably are respectively formed at and are designed on different substrate that different frequency uses.In the present embodiment, high frequency sending part 110 and high frequency acceptance division 120 are formed on to high frequency with on substrate 103, base band part 130 is formed on to low frequency with on substrate 104.And, for sending the transmitting antenna 101 and the receiving antenna 102 that receive high-frequency signal, also be configured in substrate 103 for high frequency.
For the price of the substrate of high frequency higher than the low frequency substrate, therefore, in the present embodiment, at only configuring high-frequency sending part 110, high frequency acceptance division 120, transmitting antenna 101, receiving antenna 102 on substrate 103 for the high frequency of high price, the base band part 130 of processing low frequency signal is configured in to low frequency at a low price with on substrate 104.Thereby, can reduce the cost of pulse radar apparatus 300.
As above explanation, need to adopt each parts separate configuration of pulse radar apparatus 300 with time on substrate 104 with substrate 103 and low frequency at high frequency for being electrically connected to high frequency and use the unit of the parts on substrate 104 with the parts on substrate 103 and low frequency.In the pulse radar apparatus 300 of present embodiment, can use the low price of current use and small-sized spininess connector 105.Be sent to high frequency for high frequency sending part 110 and high frequency acceptance division 120 substrate 103 on by the control signal of control part 133 outputs substrate 104 via connector 105 from low frequency.And, from high frequency, by the baseband signal of high frequency acceptance division 120 outputs substrate 103, via connector 105, be delivered to the base band part 130 on substrate 104 for low frequency.
As mentioned above, utilize existing spininess connector 105 delivery control signals and baseband signal with substrate 103 and low frequency between with substrate 104 at high frequency, sneak in the baseband signal that the signal intensity of the information that comprises object T is lower from the interfering noise signal of control signal.And, from the carrier wave of oscillator 111 outputs, by IQ frequency mixer 122, by correlator 121, reflected, and the self-mixing noise again produced by IQ frequency mixer 122 down coversions is also sneaked in baseband signal.Especially, when object T is positioned at a distant place, from the amplitude level of the reflected signal of object T, diminish, therefore, sometimes stashed by above-mentioned interfering noise signal or self frequency-changing's noise.
Therefore, in the pulse radar apparatus 300 of present embodiment, make and sneak into by the reproducing signals of the useless ripples such as noise in the baseband signal of connector 105, when detected object thing T, from baseband signal, remove this reproducing signals.Change or apply vibration etc. such as peripheral temperature, the useless ripple such as above-mentioned interfering noise signal or self-mixing noise just changes.Therefore, use after preferably upgrading successively the reproducing signals of useless ripple, for example regular update is for well.
The reproducing signals example of useless ripple is described with reference to Figure 13, Figure 14.Figure 13 shows the time waveform figure of signal 10 examples, be transmitted in from transmitting antenna 101 pulse signal that high frequency sending part 110 generates, receive at receiving antenna 102 reflection wave reflected by object T, and processed picked up signal 10(in addition in digital signal processing section 132, transverse axis means distance in respect of time.Also identical in Figure 14 below, Figure 16～Figure 20).The waveform when waveform of the signal 10 shown in Figure 13 is not affected by noise.And Figure 14 is the time waveform figure while sneaking into the signal of above-mentioned useless ripple in the signal 10 shown in Figure 13.The signal of symbol 11 is that simulation is illustrated in connector 105 and sneaks into interfering noise signal in baseband signal, and the signal of symbol 12 is that simulation illustrates the self-mixing noise.
In the present embodiment, suitably make the reproducing signals of the useless ripple of the interfering noise signal 11 shown in Figure 14 and 12 merging of self-mixing signal, and it is kept to storage part 134.And, when starting impulse radar installations 300 carrys out detected object thing T, deduct above-mentioned reproducing signals from the signal of processing by digital signal processing section 132 and obtain the signal shown in Figure 13 (noiselike signal) after connector 105 input base band part 130.
At Figure 12, the control line (the first control line) that will output to the control signal (the first control signal) of first section 112 and transmit this control signal from control part 133 is respectively A, a, and the control line (the second control line) that outputs to the control signal (the second control signal) of second section 113 and transmit this control signal from control part 133 is respectively B, b.And the control line (the 3rd control line) that will output to the control signal (the 3rd control signal) of correlator 121 and transmit this control signal from control part 133 is respectively C, c.Control signal A, B are respectively to the connected/closing control of power supply of first section 112, second section 113, and control signal C is to connected/closing control of the power supply of correlator 121.Here, the first control signal and two signals of the second control signal are used control signal for sending, and the 3rd control signal is used control signal for receiving.The transmission of pulse radar apparatus of the present invention and control method thereof is not limited to above-mentioned quantity with control signal and reception by the quantity of control signal, can be respectively more control signal.
And, the signal wire that will output to the baseband signal (I composition) of A/D converter section 131 and transmit this baseband signal from the first frequency mixer 123 of IQ frequency mixer 122 is respectively D, d, and the signal wire that outputs to the baseband signal (Q composition) of A/D converter section 131 and transmit this baseband signal from the second frequency mixer 124 is respectively E, e.Above-mentioned control line a, b, c and signal wire d, e are all via the different pin of connector 105.
Below, the action while with reference to Figure 12, describing pulse radar apparatus 300 detected object thing information in detail.When carrying out object information Check processing, at first, from radar function switching part 135 to control part 133 and the selection portion 332a of digital signal processing section 132 send the switching command of indication detected object thing information.Once control part 133 has the switching command of indication detected object thing information from 135 inputs of radar function switching part, pass through control line a, b to export control signal A, B to first section 112 and second section 113 suitable opportunity.By control signal A, B, the about 1[ns of power connection of first section 112 and second section 113], the carrier wave generated by oscillator 111 is cut into 1[ns] pulse width.Thereby, generate the 1[ns of the carrier wave of assigned frequency] transmitted signal of width-pulse, it is passed to transmitting antenna 101, transmitting antenna 101 as electric wave to air-launched.The electric wave of launching is positioned at the locational object T reflection of leaving distance L, and receives by receiving antenna 102.
And, according to the switching command from radar function switching part 135, from control part 133 by control line c with the timing of appointment to correlator 121 output control signal C, the power supply of correlator 121 is switched on, and can obtain the relevant of reception signal that receiving antenna 102 receives and transmitted signal.Down-convert to compound baseband signal from the signal of correlator 121 outputs by IQ frequency mixer 122.In the first frequency mixer 123 and the second frequency mixer 124, baseband signal D separately, the E of down coversion input the A/D converter section 131 of base band part 130 by signal wire d, e, and are converted to digital signal at this.
The selection portion 332a of the digital signal supplied with digital signal handling part 132 of changing at A/D converter section 131, according to the switching command from radar function switching part 135, digital signal outputs to object information test section 132b.Digital signal at object information test section 132b based on from selection portion 332a input is carried out the composite signal processing, calculates about object information such as the positional information of object T or relative velocities.
Control line a, b shown in Figure 12, c are connected substrate 103 and substrate 104 for low frequency for high frequency with signal wire d, e by connector 105.Each pin (terminal) of connector 105 is exposed state, although therefore flow through the signal that the signal of each terminal is small level, but around being disturbed to other terminals.Control signal A, B, C by control line a, b, c is the signal that drives RF parts (first section 112, second section 113, correlator 121) for connecting/closing, and for example has 2～3[V] signal intensity of degree.On the contrary, baseband signal D, the E by signal wire d, e is the signal that the lower signal of intensity to being reflected by object T carries out down coversion, is the low-down signal of intensity.Therefore, with baseband signal D, E, compare, control signal A, B, C are the signals that intensity is relatively very high, and in connector 105, control signal A, B, C are leaked to signal wire d, e from control line a, b, c.
Enlarge above-mentioned each control line and the signal wire in showing pulse radar apparatus 300 at Figure 15.At Figure 15, at connector 105, from control line a, b, c, around the signal that enters signal wire d, e, be respectively interfering noise signal α, β, γ.Interfering noise signal α, β, γ become the baseband signal D that has and pass through signal wire d, e, the signal of the roughly the same intensity of E.In Figure 15, will be by IQ frequency mixer 122 from oscillator 111 output, and after being reflected by correlator 121 again the self-mixing psophometer in IQ frequency mixer 122 down coversions be shown δ.This self-mixing noise δ also sneaks in baseband signal D, E.Here, can configure each signal spininess connector mobile in following mode: interfering noise signal α, β, γ and baseband signal D, E are synthetic, but its signal intensity, for not making level that A/D converter section 131 is saturated, in other words, realizes isolation with each control signal and baseband signal as far as possible.
In the pulse radar apparatus 300 of present embodiment, in order suitably to make and to comprise the reproducing signals of the useless ripple of sneaking into above-mentioned each noise in baseband signal D, E and upgraded, when bringing into use pulse radar apparatus 300 or in use procedure, make first section 112, second section 113 and correlator 121 work by control line a, b, c with appropriate timing successively.And, the reproducing signals of obtained useless ripple is stored in storer 134, when detected object thing T, thereby deduct reproducing signals from baseband signal D, the E that will receive the signal down coversion, remove each noise.
Below, the method for making with reference to the reproducing signals of Figure 16～19 pair useless ripple describes.Figure 16～Figure 19 is according to the noise signal of the control method acquisition of the pulse radar apparatus of present embodiment and the schematic diagram of reproducing signals example.When making the reproducing signals of useless ripple, once send electric wave from transmitting antenna 101 to air-launched, likely send electric wave and received by the rear receiving antenna 102 that passes through of any object thing reflection.If receive such reflection wave, can't make the reproducing signals that only has useless ripple.Therefore, when making the reproducing signals of useless ripple, stop from transmitting antenna 101 emissions and send electric wave.
When making reproducing signals, from radar function switching part 135 to control part 133 and the selection portion 332a of digital signal processing section 132 send and be switched to the switching command that reproducing signals is made.And, for control part 133, at first from 135 outputs of radar function switching part, be used to indicate the signal of the reproducing signals making of first stage.Thereby control part 133 is made as the reproducing signals of first stage, makes control signal B, C flow through control line b, c, and stops the control signal A that output stream is crossed control line a, starts radar.In pulse radar apparatus 300, while only having the power supply of connecting at the same time first section 112 and second section 113, pulse signal outputs to transmitting antenna 101.Therefore, when starting radar, control signal A does not output to first section 112, and pulse signal just can not output to transmitting antenna 101.Thereby receiving antenna 102 can not receive reflection wave yet.
Its result, interfering noise signal β, γ separately and self-mixing noise δ that control signal B, C are sneaked in signal wire d, e carry out synthetic noise signal (β+γ+δ) supplied with digital signal handling part 132, and the selection noise signal (β+γ+δ) by selection portion 332a is output to the 132c of reproducing signals preparing department.The 132c of reproducing signals preparing department carries out the signal processing to noise signal (β+γ+δ), thereby obtains the noise signal shown in Figure 16.Figure 16 is the time waveform example schematic diagram of noise signal (β+γ+δ).Process at the 132c of reproducing signals preparing department the noise signal (β+γ+δ) obtained and be stored in storage part 134 as the first background signal.
After making, then from radar function switching part 135 to control part, 133 outputs are used to indicate the signal that the reproducing signals of subordinate phase is made to the reproducing signals that finishes the first stage.Reproducing signals as subordinate phase is made, and control part 133 makes control signal A, C flow through control line a, c, and stops the control signal B that output stream is crossed control line b, thereby starts radar.At this moment, only have the power supply of first section 112 to be switched on, the power supply of second section 113 can not be switched on, so pulse signal still can not output to transmitting antenna 101.Thereby receiving antenna 102 can not received reflection wave yet.
Its result, in digital signal processing section 132, input interfering noise signal α, γ separately and self-mixing noise δ that control signal A, C are sneaked in signal wire d, e carry out synthetic noise signal (α+γ+δ), and this noise signal of selection (α+γ+δ) by selection portion 332a is output to the 132c of reproducing signals preparing department.The 132c of reproducing signals preparing department carries out signal to noise signal (α+γ+δ) and processes the noise signal shown in acquisition Figure 17.Figure 17 is the time waveform example schematic diagram of noise signal (α+γ+δ).Being processed obtained noise signal (α+γ+δ) at the 132c of reproducing signals preparing department is added in as the second background signal on the noise signal (β+γ+δ) in being kept at storage part 134.
After finishing the reproducing signals making of subordinate phase, radar function switching part 135 is further exported the signal of the reproducing signals making that is used to indicate the phase III to control part 133.As the reproducing signals of phase III, make, control part 133 makes control signal C flow through control line c, and stops output stream simultaneously and cross the control signal A of control line a, b, B, thereby starts radar.At this moment, pulse signal can not output to transmitting antenna 101.Thereby receiving antenna 102 can not received reflection wave yet.
Its result, interfering noise signal γ and self-mixing noise δ that in digital signal processing section 132, input is sneaked into signal wire d, e by control signal C carry out synthetic noise signal (γ+δ), and this noise signal of selection (γ+δ) by selection portion 332a is output to the 132c of reproducing signals preparing department.The 132c of reproducing signals preparing department carries out the signal processing to noise signal (γ+δ).Thereby the noise signal shown in acquisition Figure 18.Figure 18 is the time waveform example schematic diagram of noise signal (γ+δ).Processing at the 132c of reproducing signals preparing department the noise signal (γ+δ) obtained deducts as the noise signal of the 3rd background signal from be kept at storage part 134.
As mentioned above, add the noise signal (α+γ+δ) of the second background signal in the noise signal (β+γ+δ) of the first background signal, and deduct the noise signal (γ+δ) of the 3rd background signal, thus calculate the noise signal that all useless ripples are combined, as shown in the formula.
（β+γ+δ）+（α+γ+δ）-（γ+δ）=α+β+γ+δ
As mentioned above, preserve the reproducing signals (alpha+beta+γ+δ) that interfering noise signal α, β, γ and self-mixing noise δ is carried out to synthetic noise signal in storage part 134.The time waveform phase adduction of the time waveform of Figure 16 and Figure 17 is therefrom deducted to the time waveform of Figure 18, thereby obtain the time waveform of reproducing signals (alpha+beta+γ+δ).Figure 19 shows the time waveform of reproducing signals (alpha+beta+γ+δ) at this moment.
As described above, when making the reproducing signals of useless ripple, need to carry out the radar identical with the detection of general object information actions three times.When sending while with control signal, being m, for the radar of the reproducing signals of making useless ripple move need to carry out (m+1) inferior.Obtain the different range data of the measuring distance of Nr group or the noise signal of each range data when carrying out object information Check processing once or obtain the processing of a background signal, obtaining the range data of a group or the noise signal required time of each range data is the sampling time Tu of unit, will carry out an object information Check processing or obtain the needed time of background signal (first period Ts) for Tu * Nr.For example, the sampling time Tu of unit is 4[ms], the group quantity Nr of range data is 20 o'clock, object information Check processing required time Ts is 4[ms] * 20=80[ms].
And, need to obtain the noise signal of each range data of Nr * 3 time when making the reproducing signals of useless ripple, and need to consume three times of 80[ms that are equivalent to object information Check processing required time Ts] * 3=240[ms] time.Therefore can't carry out object information Check processing in the meantime, carry out successively the making of reproducing signals, detected object thing information suitably, radar function will be significantly impaired.
For this reason, in the pulse radar apparatus 300 of present embodiment, the pulse repetition time Tp that carries out pulse repetition time Tz that high frequency sending part 110 during reproducing signals make to be processed generates transmitted signals when carrying out object information Check processing is short.Thereby reduce as far as possible the impact that the retrieval process of object information is brought.
For example, when cycle T z=1/2 * Tp, carry out the sampling time Tu of unit with the pulse repetition time of half and become 2[ms], therefore, above-mentioned 240[ms consuming time] time of generation reproducing signals become half Tr=120[ms].That is,, when Tz is Tp 1/N times the time, the time T r that generates the number of copying is 1/N.But, shorten cycle T z, can shorten the range information of the reproducing signals that can generate, can't generate reproducing signals at a distance.But, do not require very high precision for the object that is positioned at a distant place, so no problem when not needing the reproducing signals in a distant place.
And, preferably when bringing into use radar or regularly carry out the renewal of reproducing signals, for example when Tc be 100[ms], cycle T z=1/4 * Tp, above-mentioned Tr is 60[ms].On the contrary, update cycle Tc is 100[ms] and Tr is 60[ms], the time that likely is considered to not play radar function is longer.At this moment, can generate a part of reproducing signals, when upgrading reproducing signals, shorten each reproducing signals rise time.For example, reproducing signals is generated and is divided into three stages, each reproducing signals rise time Tr=60[ms]/3=20[ms], can significantly not damage the function as radar.
With reference to Figure 20,21 illustrative examples as pulse repetition time Tpls is shortened to Tz(<Tp from Tp) time detection range that obtains and the information of reproducing signals.The chopped pulse repetition period, detection range shortens, and therefore, can only obtain the information of the reproducing signals of the detection range part that is equivalent to shortening.Its result, as shown in Figure 20 (a)～(d), can only obtain the part of the self-mixing noise δ of the reproducing signals information shown in Figure 16～19.
At this moment, as shown in Figure 21 (a), there is residual undesired signal in a distant place, when the reflection wave that has here from object, is difficult to detect.But, be the object of the distance that remains certain, at this moment in not with respect to the state of the relative velocity of radar,, be not therefore dangerous object.And, when detection is positioned at the relative velocity of object of this distance, the close object for shown in for example Figure 21 (b), can make a distinction detection with undesired signal, therefore can not become problem.
In addition, in the processing of the digital signal processing section 132 of present embodiment, in order to calculate relative velocity, input signal is carried out to composite signal processing (FFT processing) Doppler's composition of calculating object thing afterwards.The noise signal of the pulse radar apparatus 300 interior generations of above-mentioned explanation is stable noise, so noise signal α, β, γ, δ all do not comprise Doppler's composition, only includes the 0[Hz that is equivalent to relative velocity 0] composition.
Thereby, the first～three background signal that processing by digital signal processing section 132 obtains just is equivalent to the 0[Hz of relative velocity 0] noise signal of composition, the Fourier transform data of reproducing signals (alpha+beta+γ+δ) also only include the 0[Hz that is equivalent to relative velocity 0] composition.Thereby, can be only for the signal to from 131 inputs of A/D converter section, carry out composite signal and process the 0[Hz obtained] and composition deducts reproducing signals (alpha+beta+γ+δ).
And, but while there is no need the relative velocity of measuring object thing, in digital signal processing section 132, there is no need to carry out above-mentioned FFT processing, only judge whether that the signal that the object in each range gate (gate) can be detected gets final product.And, even when there is no need the relative velocity of measuring object thing, in order to improve the SN ratio, also can carry out above-mentioned FFT processing at data-signal handling part 132, judge whether to detect the signal of the object in each range gate.At this moment be also that the data of range gate that deduct the correspondence of reproducing signals (alpha+beta+γ+δ) the data of each range gate of obtaining during from control part 133 output control signal A, B, C can obtain noiselike signal, therefore can be based on this noise signal detected object thing accurately.
As mentioned above, according to pulse radar apparatus of the present invention, can make at short notice the reproducing signals of noise signal, reduce the impact on object information Check processing, accurately detected object thing information.
In the pulse radar apparatus of above-mentioned embodiment, comprise respectively a transmitting antenna and receiving antenna, but be not limited thereto.For example, at the pulse radar apparatus with phase monopulse mode measured phase angle, need to there are two receiving antennas, also can make the reproducing signals of noise signal and remove reproducing signals from receiving signal in such pulse radar apparatus.
Pulse radar apparatus of the present invention comprises: there is the oscillator of the carrier wave that generates assigned frequency, thereby and the high frequency sending part of the carrier wave generation transmitted signal generated at oscillator with the control signal cutting according to plural transmission; From high frequency sending part input transmitted signal and using it as electric wave to the transmitting antenna of spatial emission; The receiving antenna of the reflection wave that reception is launched by object to the electric wave of spatial emission; And, receive to receive signal and obtain relevant to transmitted signal according to receiving by control signal from receiving antenna, and be converted to the high frequency acceptance division of baseband signal.And, also comprising base band part, base band part comprises: the input baseband signal also is converted to the A/D converter section of digital signal; Thereby from A/D converter section supplied with digital signal calculate and object between distance and/or the azimuthal digital signal processing section of the relative velocity of object and/or object; Receive the control part by control signal to the output of high frequency acceptance division when sending by control signal to the output of high frequency sending part.
When from control part, do not export plural transmission with control signal part or all but export transmission outside it by control signal and receive while by control signal and from oscillator output, carrier wave being arranged, digital signal processing section obtains the digital signal exported from the A/D converter section as the first background signal.And, when the transmission of only exporting above-mentioned part or all from control part stops outgoing carrier with control signal and oscillator, obtain digital signal from the output of A/D converter section as the second background signal.And, by the first background signal and the second background signal addition, thereby calculate reproducing signals.
After calculating reproducing signals, during in the whole and reception use control signal of exporting plural transmission use control signal from control part and from the oscillator outgoing carrier, input, from the digital signal of A/D converter section output, therefrom deducts above-mentioned reproducing signals, thereby calculates noiselike signal.And, based on this noiselike signal, distance and/or the relative velocity of object and/or the position angle of object between calculating and object.
Digital signal processing section can be configured to the digital signal of A/D converter section input is carried out to Fourier transform.And, when from control part output transmission, using the whole of control signal and reception by control signal and from the oscillator outgoing carrier, from being equivalent to deduct Fourier's composition of the 0Hz that is equivalent to reproducing signals from Fourier's composition of the 0Hz of the digital signal of A/D converter section output, thereby calculate noiselike signal.
Pulse radar apparatus can be configured to major general's base band part and be formed on first substrate, and the high frequency sending part is formed on the substrate different from first substrate with the high frequency acceptance division.At this moment, the wire connecting portion of spininess connector can be located between first substrate and other substrates, wherein the wire connecting portion of spininess connector totally connects into conducting state with control signal and reception with each control line of control signal for signal wire and the plural transmission of transmission that will transmit baseband signal.At this moment, separate configuration signal wire and control line, realize isolation as far as possible.
And comprise according to the control method of pulse radar apparatus of the present invention: the carrier wave of the carrier wave of the frequency of generation appointment generates step; Thereby by control signal, come pulse type cutting carrier wave to generate the signal cutting step of transmitted signal according to plural transmission; Using transmitted signal as electric wave to the forwarding step of spatial emission; The receiving step of the reflection wave that reception is reflected by object to the electric wave of spatial emission; According to receiving by control signal, obtain in the reception signal of receiving step reception and the relevant correlation step of transmitted signal; Thereby the output signal of correlation step is down-converted to the down coversion step of base band output baseband signal; Be converted to the A/D switch process of digital signal after the input baseband signal; And, thereby distance and/or the relative velocity of object and/or azimuthal digital signal processing step of object between supplied with digital signal calculating and object.
In the digital signal processing step, do not receive by control signal and carried out carrier wave while generating step by control signal and in correlation step output with the transmission outside part or all but output of control signal when do not export plural transmission at the signal cutting step, acquisition in the digital signal of A/D switch process acquisition as the first background signal.And, only export above-mentioned part or all transmission by control signal and do not carry out carrier wave while generating step at the signal cutting step, obtain the digital signal that obtains at the A/D switch process as the second background signal.And, by the first background signal and the second background signal addition, thereby calculate reproducing signals.
After calculating reproducing signals, when sending in the output of signal cutting step with the whole of control signal and when correlation step output receives by control signal and carried out carrier wave generation step, deduct above-mentioned reproducing signals from the digital signal obtained at the A/D switch process, thereby calculate noiselike signal.Afterwards, based on this noiselike signal, distance and/or the relative velocity of object and/or the position angle of object between calculating and object.
In above-mentioned digital signal processing step, can carry out the Fourier transform processing to the digital signal of changing in the A/D switch process.At this moment, when sending in the output of signal cutting step with the whole of control signal and when correlation step output receives by control signal and carried out carrier wave generation step, deduct Fourier's composition of the 0Hz that is equivalent to reproducing signals from Fourier's composition of the 0Hz of the digital signal that is equivalent to obtain at the A/D switch process, thereby calculate noiselike signal.
(the 4th embodiment)
Below, the pulse radar apparatus with reference to Figure 22 explanation according to four embodiment of the invention.Figure 22 shows the block diagram according to pulse radar apparatus 400 structures of present embodiment.At Figure 22, pulse radar apparatus 400 comprises: high frequency sending part 110 and the high frequency acceptance division 120 of processing high-frequency signal; Process the base band part 130 of low frequency signal; For the transmitting antenna 101 to the spatial emission electric wave; And, the receiving antenna 102 of the reflection wave that reception is reflected by object.Below, for convenience of explanation, the object detected with symbol T indicating impulse radar installations 400.
High frequency sending part 110 comprises: first section 112 and second section 113 that the oscillator 111 of the electromagnetic transmitted signal generating source of conduct of the high-frequency signal (carrier wave) of generation appointment and the high-frequency signal that will generate at oscillator 111 be cut into the pulse-like signal (pulse signal) of the time width of appointment.For example 1[ns is cut into by the high-frequency signal from oscillator 111 inputs in first section 112 and second section 113] circuit of the pulse signal of width, can utilize multiplier or switch.By adopting two signal clipper circuits of first section 112 and second section 113, can generate the pulse signal of clear (sharp) moulding.The transmitted signal of the pulse type of exporting from second section 113 is delivered to transmitting antenna 101, from transmitting antenna 101, as electric wave, is transmitted in the air.
High frequency acceptance division 120 comprises: obtain after the reception signal that input receives by receiving antenna 102 to relevant correlator 121 and the utilization of transmitted signal and the signal from correlator 121 outputs is carried out to the IQ frequency mixer 122 of down coversion from the carrier wave of oscillator 111 inputs.IQ frequency mixer 122 comprises: for the first frequency mixer 123 of the baseband signal that down-converts to the I composition; For the second frequency mixer 124 of the baseband signal that down-converts to the Q composition and the phase differential of the carrier wave from oscillator 111 input being given to 90 degree, output to the phase shifter 125 of the first frequency mixer 123 and the second frequency mixer 124.Correlator 121 takes out the signal of each measuring distance from receiving signal, and it is outputed to the first frequency mixer 123 and the second frequency mixer 124.
In the pulse radar apparatus 400 of the present embodiment with said structure, form each parts of high frequency sending part 110 and high frequency acceptance division 120 in tens of ghz band work, on the contrary, each parts that form base band part 130 are in the band operation of 2GHz degree at the most.Therefore as mentioned above, the frequency of operation of high frequency sending part 110 and high frequency acceptance division 120 and the frequency of operation of base band part 130 differ greatly, and preferably are respectively formed at and are designed on different substrate that different frequency uses.In the present embodiment, high frequency sending part 110 and high frequency acceptance division 120 are formed on to high frequency with on substrate 103, base band part 130 is formed on to low frequency with on substrate 104.And, for sending the transmitting antenna 101 and the receiving antenna 102 that receive high-frequency signal, also be configured in substrate 103 for high frequency.
For the price of the substrate of high frequency higher than the low frequency substrate, therefore, in the present embodiment, at only configuring high-frequency sending part 110, high frequency acceptance division 120, transmitting antenna 101, receiving antenna 102 on substrate 103 for the high frequency of high price, the base band part 130 of processing low frequency signal is configured in to low frequency at a low price with on substrate 104.Thereby, can reduce the cost of pulse radar apparatus 400.
As above explanation, need to adopt each parts separate configuration of pulse radar apparatus 400 with time on substrate 104 with substrate 103 and low frequency at high frequency for being electrically connected to high frequency and use the unit of the parts on substrate 104 with the parts on substrate 103 and low frequency.In the pulse radar apparatus 400 of present embodiment, can use the low price of current use and small-sized spininess connector 105.Be sent to high frequency for high frequency sending part 110 and high frequency acceptance division 120 substrate 103 on by the control signal of control part 133 outputs substrate 104 via connector 105 from low frequency.And, from high frequency, by the baseband signal of high frequency acceptance division 120 outputs substrate 103, via connector 105, be delivered to the base band part 130 on substrate 104 for low frequency.
As mentioned above, utilize existing spininess connector 105 delivery control signals and baseband signal with substrate 103 and low frequency between with substrate 104 at high frequency, sneak in the baseband signal that the signal intensity of the information that comprises object T is lower from the interfering noise signal of control signal.And, from the carrier wave of oscillator 111 outputs, by IQ frequency mixer 122, by correlator 121, reflected, and the self-mixing noise again produced by IQ frequency mixer 122 down coversions is also sneaked in baseband signal.Especially, when object T is positioned at a distant place, from the amplitude level of the reflected signal of object T, diminish, therefore, sometimes stashed by above-mentioned interfering noise signal or self frequency-changing's noise.
Therefore, in the pulse radar apparatus 400 of present embodiment, make and sneak into by the reproducing signals of the useless ripples such as noise in the baseband signal of connector 105 in advance, when detected object thing T, from baseband signal, remove this reproducing signals.The reproducing signals example of useless ripple is described with reference to Figure 23, Figure 24.Figure 23 shows the time waveform figure of signal 10 examples, be transmitted in from transmitting antenna 101 pulse signal that high frequency sending part 110 generates, receive at receiving antenna 102 reflection wave reflected by object T, and processed picked up signal 10(in addition in digital signal processing section 132, transverse axis means distance in respect of time.Also identical in Figure 24 below, Figure 27～Figure 30).The waveform when waveform of the signal 10 shown in Figure 23 is not affected by noise.And Figure 24 is the time waveform figure while sneaking into the signal of above-mentioned useless ripple in the signal 10 shown in Figure 23.The signal of symbol 11 is that simulation is illustrated in connector 105 and sneaks into interfering noise signal in baseband signal, and the signal of symbol 12 is that simulation illustrates the self-mixing noise.
In the present embodiment, make in advance the reproducing signals of the useless ripple of the interfering noise signal 11 shown in Figure 24 and 12 merging of self-mixing signal, and it is kept to storage part 134.And, when starting impulse radar installations 400 carrys out detected object thing T, at high frequency acceptance division 120, to process and receive signal and output to base band part 130 via connector 105, the signal of processing from digital signal processing section 132 deducts above-mentioned reproducing signals.Thereby the signal shown in acquisition Figure 23 (noiselike signal).Below, describe the method for making in advance above-mentioned reproducing signals in detail with reference to accompanying drawing.
At Figure 22, the control line (the first control line) that will output to the control signal (the first control signal) of first section 112 and transmit this control signal from control part 133 is respectively A, a, and the control line (the second control line) that outputs to the control signal (the second control signal) of second section 113 and transmit this control signal from control part 133 is respectively B, b.And the control line (the 3rd control line) that outputs to the control signal (the 3rd control signal) of correlator 121 and transmit this control signal from control part 133 is respectively C, c.Control signal A, B are respectively to the connected/closing control of power supply of first section 112, second section 113, and control signal C is to connected/closing control of the power supply of correlator 121.Here, the first control signal and two signals of the second control signal are used control signal for sending, and the 3rd control signal is used control signal for receiving.The transmission of pulse radar apparatus of the present invention and control method thereof is not limited to above-mentioned quantity with control signal and reception by the quantity of control signal, can be respectively more control signal.
And, the signal wire that will output to the baseband signal (I composition) of A/D converter section 131 and transmit this baseband signal from the first frequency mixer 123 of IQ frequency mixer 122 is respectively D, d, and the signal wire that outputs to the baseband signal (Q composition) of A/D converter section 131 and transmit this baseband signal from the second frequency mixer 124 is respectively E, e.Above-mentioned control line a, b, c and signal wire d, e are all via the different pin of connector 105.
At pulse radar apparatus 400, control signal A, B from control part 133 via control line a, b with suitable timing output to the first section 112 and second section 113, the about 1[ns of power connection separately], the carrier wave generated at oscillator 111 is cut into 1[ns] pulse width.Thereby, generate the 1[ns of the carrier wave of assigned frequency] transmitted signal of pulse width, transmitting antenna 101 as electric wave to this signal of air-launched.The electric wave of launching is positioned at the locational object T reflection of leaving distance L, by receiving antenna 102, receives.
From control part 133 by control line c with the timing of appointment to correlator 121 output control signal C, the power supply of correlator 121 is switched on, and can obtain the relevant of reception signal that receiving antenna 102 receives and transmitted signal.Down-convert to compound baseband signal from the signal of correlator 121 outputs by IQ frequency mixer 122.In the first frequency mixer 123 and the second frequency mixer 124, baseband signal D separately, the E of down coversion input the A/D converter section 131 of base band part 130 by signal wire d, e, and are converted to digital signal at this.In digital signal processing section, 132 pairs of these digital signals are carried out the composite signal processing, calculate positional information and the relative velocity of relevant object T.
Control line a, b shown in Figure 22, c are connected substrate 103 and substrate 104 for low frequency for high frequency with signal wire d, e by connector 105.Each pin (terminal) of connector 105 is exposed state, although therefore flow through the signal that the signal of each terminal is small level, but around being disturbed to other terminals.Control signal A, B, C by control line a, b, c is the signal that drives RF parts (first section 112, second section 113, correlator 121) for connecting/closing, and for example has 2～3[V] signal intensity of degree.On the contrary, baseband signal D, the E by signal wire d, e is the signal that the lower signal of intensity to being reflected by object T carries out down coversion, is the low-down signal of intensity.Therefore, with baseband signal D, E, compare, control signal A, B, C are the signals that intensity is relatively very high, and in connector 105, control signal A, B, C are leaked to signal wire d, e from control line a, b, c.
Enlarge above-mentioned each control line and the signal wire in showing pulse radar apparatus 400 at Figure 25.At Figure 25, at connector 105, from control line a, b, c, around the signal that enters signal wire d, e, be respectively interfering noise signal α, β, γ.Interfering noise signal α, β, γ become the baseband signal D that has and pass through signal wire d, e, the signal of the roughly the same intensity of E.In Figure 25, will be by IQ frequency mixer 122 from oscillator 111 output, and after being reflected by correlator 121 again the self-mixing psophometer in IQ frequency mixer 122 down coversions be shown δ.This self-mixing noise δ also sneaks in baseband signal D, E.
In the pulse radar apparatus 400 of present embodiment, in order to make in advance the reproducing signals that comprises the useless ripple of sneaking into above-mentioned each noise in baseband signal D, E, when bringing into use pulse radar apparatus 400, by control line a, b, c, with appropriate timing, make first section 112, second section 113 and correlator 121 work.And, the reproducing signals of obtained useless ripple is stored in storer 134, when detected object thing T, thereby deduct reproducing signals from baseband signal D, the E that will receive the signal down coversion, remove each noise.
Below, the method for making with reference to the reproducing signals of Figure 26～28 pair useless ripple describes.Figure 26～Figure 28 is according to the noise signal of the control method acquisition of the pulse radar apparatus of present embodiment and the schematic diagram of reproducing signals example.In present embodiment, when making the reproducing signals of useless ripple, from transmitting antenna 101, do not launch and start electric wave.
In present embodiment, by the radar of twice, move to make reproducing signals.In the radar action of twice, two control signal A, B are exported respectively to one, in order to prevent that emission from sending electric wave.And, export in any one the radar action in two control signal A, B, do not export the 3rd control signal C, and oscillator 111 stops outgoing carrier.By stopping outgoing carrier, can prevent self-mixing noise δ.Thereby only can obtain from any one the noise signal in two control signal A, B.The situation that two radar operation of the radar action of below, take the radar action of only not exporting control signal A and only exporting control signal A are made reproducing signals describes as example.
At first, do not export control signal A but output control signal B, C make it flow through control line b, c and start radar from the state of oscillator 111 outgoing carriers from control part 133.Thereby 132 inputs of digital signal processing section have interfering noise signal β, γ separately and self-mixing noise δ that control signal B, C are sneaked in signal wire d, e to carry out synthetic noise signal (β+γ+δ).Process noise signal (β+γ+δ) in digital signal processing section 132, thereby obtain the noise signal shown in Figure 26.Figure 26 is the time waveform example schematic diagram of noise signal (β+γ+δ).Process in digital signal processing section 132 noise signal (β+γ+δ) obtained and be stored in storage part 134 as the first background signal.
Then, from control part 133, only export control signal A and make it flow through control line a, stop exporting control signal B, C.And, stop from oscillator 111 outgoing carriers, start radar.Thereby only input in digital signal processing section 132, control signal A is sneaked into to the interfering noise signal α in signal wire d, e.Carry out signal at 132 couples of noise signal α of digital signal processing section and process the noise signal shown in acquisition Figure 27.Figure 27 is the time waveform example schematic diagram of noise signal α.Being processed in digital signal processing section 132 noise signal (β+γ+δ) that obtained noise signal α is added in being kept at storage part 134 as the second background signal goes up and is preserved.
By in above-mentioned twice radar action by noise signal (β+γ+δ) and noise signal α addition, thereby calculate the noise signal that all useless ripples are combined, as shown in the formula.
（β+γ+δ）+α=α+β+γ+δ
As mentioned above, preserve the reproducing signals (alpha+beta+γ+δ) that interfering noise signal α, β, γ and self-mixing noise δ is carried out to synthetic noise signal in storage part 134.By the time waveform addition of the time waveform of Figure 26 and Figure 27, thus the time waveform of acquisition reproducing signals (alpha+beta+γ+δ).Figure 28 shows the time waveform example of reproducing signals (alpha+beta+γ+δ).
Below, utilize the flowchart text shown in Figure 29 to make in advance the reproducing signals of useless ripple the method for utilizing this reproducing signals to be proofreaied and correct.Figure 29 is the process flow diagram of the control method of the pulse radar apparatus for present embodiment is described.In present embodiment, when making the reproducing signals of useless ripple, prevent from sending electric wave from transmitting antenna 101 emissions.
At first, at step S31, judge whether to bring into use pulse radar apparatus 400, when being judged as while bringing into use, enter step S32, in the time of in being judged as use, enter step S40.At step S32, stop output in order to can not export control signal A from control part 133.Secondly, start radar at step S33.At this moment, export control signal B, C and flow through control line b, c from control part 133.And, from oscillator 111 outgoing carriers.By such radar action, in digital signal processing section 132, input has the noise signal (β+γ+δ) of the first background signal.At step S34, in digital signal processing section 132 pairs of noise signals (β+γ+δ), processed, at step S35, be kept in storage part 134.
At following step S36, stop exporting control signal B, C, in order to can not export control signal B, C from control part 133.And, failure of oscillations device 111 outgoing carriers.Then, start radar at step S37.At this moment, only export control signal A and flow through control line a from control part 133.And, from oscillator 111 outgoing carrier not.By such radar action, in digital signal processing section 132, input has the noise signal α of the second background signal.At step S38, in digital signal processing section, 132 couples of noise signal α are processed, and the noise signal (β+γ+δ) be added in being kept at storage part 134 at step S39 goes up and preserved.
Twice radar action by above-mentioned adds noise signal α on noise signal (β+γ+δ), calculates the noise signal (alpha+beta+γ+δ) that all useless ripples are combined.Preserve the reproducing signals (alpha+beta+γ+δ) that interfering noise signal α, β, γ and self-mixing noise δ is carried out to synthetic noise signal in storage part 134.
On the other hand, be judged as pulse radar apparatus 400 in use the time in step S31, at step S40, start radar.At this moment, also flow through respectively control line a, b, c from control part 133 output control signal A, B, C.And, from oscillator 111 outgoing carriers.Move by radar, at high frequency sending part 110, generate transmitted signal, and using it as electric wave from transmitting antenna 102 emissions.And, receive by receiving antenna 102 reflection wave reflected by object T.The reception signal received at receiving antenna 102 is down-converted to base band at high frequency acceptance division 120, by connector 105, is delivered to A/D converter section 131.
The baseband signal of input A/D converter section 131 is delivered to digital signal processing section 132 after being converted into digital signal.The digital signal that is delivered to digital signal processing section 132 is included in the noise signal (alpha+beta+γ+δ) that connector 105 grades are sneaked into.At step S41, in 132 pairs, digital signal processing section, from the digital signal that receives signal acquisition, processed.Thereby, can obtain the signal of sneaking into interfering noise signal 11 and self-mixing noise 12 in the signal 10 shown in Figure 24.
Read reproducing signals (alpha+beta+γ+δ) at step S42 from storage part 134, at step S43, the signal of processing from digital signal processing section 132 deducts reproducing signals (alpha+beta+γ+δ).Thereby the signal 10 shown in acquisition Figure 23.Based on this signal 10, at step S44, distance L and relative velocity between calculating and object T.
In addition, in the present embodiment, for relative velocity is calculated in the processing by digital signal processing section 132, input signal is carried out to composite signal processing (FFT processing), Doppler's composition of calculating object thing.The noise signal of above-described pulse radar apparatus 400 interior generations is stable noise signal, and therefore, noise signal α, β, γ, δ all do not comprise Doppler's composition, only comprise the 0[Hz that is equivalent to relative velocity 0] composition.
Thereby the noise signal data that the processing by the digital signal processing section 132 in step S34 and S38 obtains just are equivalent to the 0[Hz of relative velocity 0] noise signal of composition.And the Fourier transform data that are kept at the reproducing signals (alpha+beta+γ+δ) in storage part 134 at step S39 also just are equivalent to relative velocity 0[Hz] composition.Thereby, at above-mentioned steps S43, only the signal from 131 inputs of A/D converter section being carried out to composite signal and processes the 0[Hz obtained] and composition deducted the calculating of reproducing signals (alpha+beta+γ+δ).
And, when there is no need the relative velocity of measuring object thing, in digital signal processing section 132, there is no need to carry out above-mentioned FFT processing, only judge whether that the signal that can detect the object in each range gate gets final product.And, during even without the relative velocity of necessary measuring object thing, in order to improve the SN ratio, also can carry out above-mentioned FFT processing at data-signal handling part 132, judge whether to detect the signal of the object in each range gate.At this moment be also that the range data that the data of each range gate of obtaining during from control part 133 output control signal A, B, C deduct the correspondence of reproducing signals (alpha+beta+γ+δ) can obtain noiselike signal.Based on this signal, detected object thing definitely.
In the process flow diagram shown in Figure 29, when bringing into use pulse radar apparatus 400, (while switching on power) makes reproducing signals (alpha+beta+γ+δ), but be not limited thereto, can also in the use procedure of pulse radar apparatus 400, regularly make reproducing signals (alpha+beta+γ+δ).In the use procedure of pulse radar apparatus 400, for example the temperature in the device rises, and reproducing signals likely changes.Therefore, by regularly again making reproducing signals in the use procedure at pulse radar apparatus 400, thereby can further improve the radar performance of pulse radar apparatus 400.
As above explanation, according to pulse radar apparatus of the present invention, make in advance the reproducing signals of noise signal and remove from receiving signal, accurately detected object thing information.At pulse radar apparatus of the present invention, the base band part that frequency of operation is lower can adopt low frequency substrate at a low price, and, can connect with the general connector adopted at present substrate and high frequency substrate for low frequency.Thereby, small-sized and pulse radar apparatus at a low price can be provided.
(the 5th embodiment)
Below, with reference to Figure 30,31 pulse radar apparatus that illustrate according to fifth embodiment of the invention.Figure 30, the 31st, the noise signal example schematic diagram obtained according to the control method of the pulse radar apparatus of present embodiment.In present embodiment, be also that the radar by twice moves to make reproducing signals, the control signal of output is all different from the first embodiment separately.
In present embodiment, what for twice radar making reproducing signals, move is once export at the same time control signal A, the B for starting high frequency sending part 110 and make it flow through control line a, b, do not export for starting the control signal C of correlator 121, and, in the situation of failure of oscillations device 111 outgoing carriers, start radar.Thereby in digital signal processing section 132, input is sneaked into each interfering noise signal α of signal wire d, e, the noise signal (alpha+beta) that β forms by control signal A, B.Processed in 132 pairs of noise signals of digital signal processing section (alpha+beta), thereby obtained the noise signal shown in Figure 30.Figure 30 is the time waveform illustration intention of noise signal (alpha+beta).In digital signal processing section 132, process during the noise signal (alpha+beta) obtained is kept at storage part 134 as the second background signal.
And another time in twice radar action is not export control signal A, B, and exports control signal C and make it flow through control line c, and starts radar from the state of oscillator 111 outgoing carriers.Thereby interfering noise signal γ and self-mixing noise δ that in digital signal processing section 132, input is sneaked into signal wire d, e by control signal C carry out synthetic noise signal (γ+δ).Processed in 132 pairs of noise signals of digital signal processing section (γ+δ), thereby obtained the noise signal shown in Figure 31.Figure 31 is the time waveform illustration intention of noise signal (γ+δ).The noise signal (γ+δ) of processing acquisition in digital signal processing section 132, as the first background signal, is added in by it noise signal (alpha+beta) that is kept at storage part 134 and goes up and preserved.
But, can't failure of oscillations device 111 time, for twice radar action making reproducing signals be once to export two control signal A, B that export high frequency sending part 110 to simultaneously, at this moment, do not export control signal C.Thereby, generate transmitted signal at high frequency sending part 110, from transmitting antenna 101, as electric wave, launch.After emitting radio waves, while in detection range, having object, after received antenna 102 receives, export digital signal processing section 132 to, therefore receive signal and noise signal addition, can't only obtain noise signal.
But, while in detection range, there is no object, receive the intensity step-down of signal, therefore can not become problem.And, even when object is arranged, do not export control signal C, and not work of correlator 121, the digital signal that therefore outputs to digital signal processing section 132 becomes the extremely low signal of intensity of significantly being decayed.Compare when making under the state that there is no emitting radio waves, some descends the precision of the reproducing signals of making in present embodiment, but can obtain the reproducing signals of the precision that is enough to improve object information.And control method that can be identical according to detected object thing information the time, to high frequency sending part 110 output control signal A, B, can further be simplified the control while making reproducing signals.
The radar action of twice above-mentioned, by noise signal (γ+δ) addition of the noise signal by the second background signal (alpha+beta) and the first background signal, thereby calculate the noise signal that all useless ripples are combined, as shown in the formula.
（α+β）+（γ+δ）=α+β+γ+δ
As mentioned above, preserve the reproducing signals (alpha+beta+γ+δ) that interfering noise signal α, β, γ and self-mixing noise δ is carried out to synthetic noise signal in storage part 134.By the time waveform addition shown in the time waveform shown in Figure 30 and Figure 31, can obtain the time waveform of the reproducing signals shown in Figure 28 (alpha+beta+γ+δ).
Below, make in advance the reproducing signals of useless ripple the method for utilizing this reproducing signals to be proofreaied and correct with reference to the flowchart text shown in Figure 32.Figure 32 is the process flow diagram of the control method of the pulse radar apparatus for present embodiment is described.Below, mainly the processing different from the 4th embodiment described.
Be judged as while bringing into use pulse radar apparatus 400 at step S31, at step S52, stop output so that control part 133 is not exported control signal C, the device of the failure of oscillations simultaneously 111 outgoing carriers.Thereby, at step S54, in 132 pairs of noise signals of digital signal processing section (alpha+beta), processed, at step S55, be kept in storage part 134.At following step S56, in 132 pairs of noise signals of digital signal processing section (alpha+beta), processed, at step S55, be stored in storage part 134.At following step S56, stop output so that control part 133 is not exported control signal A, B.And, from oscillator 111 outgoing carriers.Thereby at step S58, in 132 pairs of noise signals of digital signal processing section (γ+δ), processed, be stored in storage part 134 at step S59.
The radar action of twice by above-mentioned adds noise signal (γ+δ) on noise signal (alpha+beta), and the reproducing signals of the noise signal that all useless ripples are combined (alpha+beta+γ+δ) is stored in storage part 134.As mentioned above, also can make reproducing signals by the radar action of twice in the present embodiment.
In addition, in the pulse radar apparatus 400 of above-mentioned embodiment, comprise a receiving antenna and a transmitting antenna, but be not limited thereto.For example, at the pulse radar apparatus with phase monopulse mode measured phase angle, need to there are two receiving antennas, even also can make the reproducing signals of noise signal in such pulse radar apparatus, and remove from receiving signal.
In the pulse radar apparatus and control method thereof of above-mentioned embodiment, while exist obtaining background signal from oscillator outgoing carrier and two kinds of situations of outgoing carrier not.Wherein, during from the oscillator outgoing carrier, if there is object (reverberation) in outside, will receive reflected signal, so produce error in reproducing signals, but this error is very little, bring impact can to the detection of object information.
In addition, the explanation in present embodiment, for illustrating according to pulse radar apparatus of the present invention and control method example thereof, is not limited thereto.Can suitably change without departing from the spirit and scope of the present invention the detailed construction of pulse radar apparatus in embodiment and control method thereof and action in detail.
Reference numeral
100,200,300,400 pulse radar apparatus
101 transmitting antennas
102 receiving antennas
103 high frequency substrates
104 low frequency substrates
105 connectors
110 high frequency sending parts
111 oscillators
112 first sections
113 second sections
120 high frequency acceptance divisions
121 correlators
122 IQ frequency mixer
123 first frequency mixer
124 second frequency mixer
125 phase shifters
130 base band part
131 A/D converter sections
132 digital signal processing sections
Sampling processing section of 132a unit
132b object information test section
132c reproducing signals preparing department
133 control parts
134 storage parts
135 radar function switching parts
The 332a selection portion
Claims (32)
1. the control method of a pulse radar apparatus, thus the information that detects the object in the detection range of appointment with the update cycle of setting in advance provides information, and the control method of described pulse radar apparatus is characterised in that and comprises:
The transmitted signal treatment step, according to plural transmission control signal, be cut into pulse type by the carrier wave of assigned frequency, when control signal is used in all described plural transmissions of output, generates transmitted signal;
Forwarding step, using described transmitted signal as electric wave to spatial emission;
Receiving step, receive the reflection wave that described electric wave is reflected by object;
Unit sampling processing step, thereby, according to receiving by control signal for each measuring distance acquisition range data of being sampled to received signal, described reception signal is the signal received respectively with multiple described transmitted signal treatment step of the repetition period of appointment and described forwarding step and described receiving step;
Unit noise processed step, obtain the noise signal that each described range data comprises;
The reproducing signals making step, utilize the noise signal obtained in described unit noise processed step to upgrade reproducing signals; And
Object information detecting step, carry out described unit sampling processing step when changing described measuring distance, only carry out the first set point number, thereby obtain all described range data in described detection range, deduct described reproducing signals from described all range data, thereby detect the information of described object
Wherein, the first period within the described update cycle is carried out described object information detecting step,
The second phase except described first period within the described update cycle, the described transmission of using in changing described transmitted signal treatment step is carried out described unit noise treatment step in the output condition of control signal and/or described measuring distance, carry out predetermined number of times
Repeat described unit noise treatment step, until obtain all noise signals for all described range data, and, repeat to obtain the processing for all noise signals of described all range data.
2. the control method of pulse radar apparatus according to claim 1, is characterized in that,
When described transmission control signal is X1～Xm, wherein, m >=2,
In described unit noise processed step, by do not export described transmission with i in control signal send the described transmission export with control signal Xi in addition with control signal and described reception by control signal and using the signal that the described repetition period sampled for each measuring distance by control signal according to described reception while repeating described transmitted signal treatment step repeatedly and described forwarding step and described receiving step and preserved as the noise signal of each range data of i background signal
The transmission of not exporting described m is exported to described reception by control signal with the whole of control signal and using the signal that the described repetition period sampled for each measuring distance by control signal according to described reception while repeating described transmitted signal treatment step repeatedly and described forwarding step and described receiving step and preserved as the noise signal of each range data of (m+1) individual background signal.
3. the control method of pulse radar apparatus according to claim 2, is characterized in that,
At described reproducing signals making step,
To be formed by the noise signal of all described each range data described first～the background signal phase adduction of m deducts described (m+1) individual background signal again divided by (m-1), thereby calculates described reproducing signals.
4. according to the control method of arbitrary described pulse radar apparatus in claims 1 to 3, it is characterized in that,
While bringing into use, carry out described unit noise processed step, until obtain all noise signals for all described range data, and, carry out described reproducing signals making step, thereby make the initial value of described reproducing signals.
5. a pulse radar apparatus, detect the information of the object in the detection range of appointment and information be provided with the update cycle of setting in advance, described pulse radar apparatus is characterised in that, comprising:
The high frequency sending part, oscillator with the carrier wave that generates assigned frequency, described high frequency sending part cuts into pulse type by control signal by described carrier wave according to plural transmission, when having exported described plural transmission with control signal whole, generates transmitted signal;
Transmitting antenna, from described high frequency sending part is inputted described transmitted signal as electric wave to spatial emission;
Receiving antenna, the reflection wave reflected by object for receiving described electric wave;
The high frequency acceptance division obtains relevant to described transmitted signal according to receiving by control signal, and is converted to baseband signal from the input of described receiving antenna receives signal; And
Base band part comprises: input after described baseband signal the A/D converter section that is converted to digital signal; Input described digital signal from described A/D converter section, and detect the digital signal processing section of described object information; Export described transmission control signal to described high frequency sending part, export the control part of described reception by control signal to described high frequency acceptance division simultaneously; And, for the radar function switching part of the action of controlling described digital signal processing section and described control part;
Described digital signal processing section also comprises:
Sampling processing section of unit, input described digital signal, thereby sampled and obtain range data for each measuring distance;
Reproducing signals preparing department, obtain the included noise signal of described range data and upgrade reproducing signals; And
Object information test section, obtain all described range data in described detection range from sampling processing section of described unit, from described all range data, deducts described reproducing signals, thereby detect described object information,
When described transmission control signal is X1～Xm, wherein, m >=2, to not export described transmission from described control part and send described range data that the described transmission export with control signal Xi in addition obtains in sampling processing section of described unit during by control signal with control signal and the described reception noise signal as each range data with i control signal, and the signal that will consist of the noise signal of all described each range data in described detection range is during as i background signal
Described reproducing signals preparing department will be from the background signal addition of described i～m, and deducts described (m+1) individual background signal, then divided by (m-1), thereby calculate described reproducing signals,
The first phase chien shih described object information test section work of described radar function switching part within the described update cycle, the described reproducing signals of the second phase chien shih preparing department work except described first period within the described update cycle.
6. the control method of a pulse radar apparatus, is characterized in that, comprising:
The signal cutting step, cut into the carrier wave of assigned frequency pulse type and generate transmitted signal by control signal according to plural transmission;
Forwarding step, go out as electric wave described transmitted signal to spatial emission;
Receiving step, receive the reflection wave that described electric wave is reflected by object;
Correlation step, the reception signal received at described receiving step with the control signal acquisition according to reception is relevant to described transmitted signal;
The down coversion step, be down-converted to the output signal of described correlation step base band and export baseband signal;
The A/D switch process, input described baseband signal and be converted to digital signal; And
The digital signal processing step, the reproducing signals of making the reproducing signals of the noise signal in being included in described digital signal in the described digital signal of input make to be processed and is deducted from described digital signal the object information Check processing of information that described reproducing signals detects described object and selects any one to carry out
When described digital signal processing section carries out described object information Check processing, carry out described signal cutting step with the first pulse repetition time, make while processing when carrying out described reproducing signals, carry out described signal cutting step with second pulse repetition time shorter than described the first pulse repetition time.
7. the control method of pulse radar apparatus according to claim 6, is characterized in that,
When described transmission control signal is X1～Xm, wherein, m >=2, to not export described transmission while with i in control signal, sending digital signal that the described transmission export with control signal Xi in addition obtains at described A/D switch process during by control signal with control signal and described reception as i background signal at described signal cutting step
The described reproducing signals carried out in described digital signal processing step is made and is processed, acquisition sends as described i the digital signal of selecting successively described X1～Xm and obtaining at described A/D switch process when the described transmission of described signal cutting step output except described Xi used control signal with control signal and described reception with control signal Xi, respectively as first～m described background signal, and obtain at described signal cutting step and do not export when described reception is exported in the individual transmission of described m by control signal with the whole of control signal the digital signal obtained at described A/D switch process, as (m+1) individual background signal, and by first～a m background signal phase adduction deducts described (m+1) individual background signal again divided by (m-1), thereby making reproducing signals,
At described object information Check processing, thereby in the digital signal of described A/D switch process acquisition deduct described reproducing signals with control signal and described reception during by control signal from the transmission of exporting described m at described signal cutting step and calculate noiselike signal, based on this noiselike signal, detect described object information.
8. a pulse radar apparatus, is characterized in that, comprising:
The high frequency sending part, have the oscillator of the carrier wave that generates assigned frequency, and described high frequency sending part cuts into pulse type by control signal by described carrier wave according to plural transmission, generates transmitted signal;
Transmitting antenna, from described high frequency sending part is inputted described transmitted signal as electric wave to spatial emission;
Receiving antenna, the reflection wave reflected by object for receiving described electric wave;
The high frequency acceptance division, comprise from described receiving antenna input receives signal according to receiving the relevant dependent part to described transmitted signal with the control signal acquisition; And, will be down-converted to from the output signal of described dependent part the down coversion section of base band; And
Base band part comprises: input after described baseband signal the A/D converter section that is converted to digital signal; Make to process and deduct from described digital signal the object information Check processing of information that described reproducing signals detects described object at the reproducing signals of inputting described digital signal from described A/D converter section and make the reproducing signals of the included noise signal of described digital signal and select arbitrary digital signal processing section carried out; Export described transmission control signal to described high frequency sending part, export the control part of described reception by control signal to described dependent part simultaneously; And, to described digital signal processing section, indicate described object information Check processing and described reproducing signals to make any one in processing, and generate the radar function switching part of the pulse repetition time of transmitted signal at described high frequency sending part to described control part indication
As the described pulse repetition time, described radar function switching part is when indicating described object information Check processing to described digital signal processing section, indicated for the first pulse repetition time to described control part, when the described reproducing signals of indication is made processing, to described control part, indicate second pulse repetition time shorter than described the first pulse repetition time.
9. pulse radar apparatus according to claim 8, is characterized in that,
Described digital signal processing section comprises:
Object information test section, for carrying out described object information Check processing;
Reproducing signals preparing department, make processing for carrying out described reproducing signals; And
Selection portion, select any one in described object information test section and described reproducing signals preparing department according to the indication from described radar function switching part, and output is from the digital signal of described A/D converter section input.
10. pulse radar apparatus according to claim 8 or claim 9, is characterized in that,
When described transmission control signal is X1～Xm, wherein, m >=2, will from described control part do not export described transmission with i control signal send the described transmission export with control signal Xi in addition with control signal and described reception during by control signal from the digital signal of described A/D converter section output as i background signal, the digital signal of exporting from described A/D converter section when described reception use control signal is exported in the transmission of not exporting described m with the whole of control signal is during as (m+1) individual background signal
Described control part is when inputting the indication of described the second pulse repetition time from described radar function switching part, select successively described X1～Xm as described i transmission with control signal Xi, control signal and described reception control signal for described transmission to described high frequency sending part output except described Xi, and described reception control signal is exported in the transmission of not exporting described m with the whole of control signal
Described control part, when from described radar function switching part, inputting the indication of described the first pulse repetition time, is exported described m to described high frequency sending part and is sent by control signal and described reception control signal,
Digital signal processing section is when inputting the indication of described reproducing signals making processing from described radar function switching part, acquisition from the digital signal of described A/D converter section input successively as first～(m+1) individual described background signal, and by described first～a m background signal phase adduction deducts described (m+1) individual background signal again divided by (m-1), thereby make described reproducing signals
Digital signal processing section is when inputting the indication of described object information Check processing from described radar function switching part, thereby deduct described reproducing signals calculating noiselike signal from the digital signal of described A/D converter section input, based on this noiselike signal, detect described object information.
11. a radar installations, is characterized in that, comprising:
The high frequency sending part, oscillator with the carrier wave that generates assigned frequency, described high frequency sending part cuts into pulse type by control signal by described carrier wave according to plural transmission, generates transmitted signal when having exported described plural transmission with control signal whole;
Transmitting antenna, from described high frequency sending part is inputted described transmitted signal as electric wave to spatial emission;
Receiving antenna, the reflection wave reflected by object for receiving described electric wave;
The high frequency acceptance division obtains to the relevant of described transmitted signal and is converted to baseband signal according to receiving by control signal from described receiving antenna input receives signal; And
Base band part comprises: at least input after described baseband signal the A/D converter section that is converted to digital signal; From described A/D converter section input that described digital signal is calculated and described object between distance and/or the azimuthal digital signal processing section of the relative velocity of described object and/or described object; And, export described transmission control signal to described high frequency sending part, export the control part of described reception by control signal to described high frequency acceptance division simultaneously,
Described digital signal processing section obtain from described control part do not export described plural transmission with control signal part or all and export described transmission in addition with control signal and described reception during by control signal from the digital signal of described A/D converter section output as the first background signal, and obtain while from described control part, only exporting described part or all transmission by control signal digital signal from described A/D converter section output as the second background signal, by described the first background signal and described the second background signal addition, thereby calculating reproducing signals,
The digital signal of exporting from described A/D converter section during by control signal and from described oscillator outgoing carrier with the whole and described reception of control signal from the described plural transmission of described control part output deducts described reproducing signals, thereby calculating noiselike signal
Distance and/or the relative velocity of described object and/or the position angle of described object based between described noiselike signal calculating and described object.
12. pulse radar apparatus according to claim 11, is characterized in that,
Make described oscillator outgoing carrier when obtaining described the first background signal, when obtaining described the second background signal, make described oscillator stop outgoing carrier.
13. pulse radar apparatus according to claim 11, is characterized in that,
When obtaining described the first background signal and while obtaining described the second background signal, make described oscillator outgoing carrier.
14. according to claim 11 to arbitrary described pulse radar apparatus in 13, it is characterized in that,
Described digital signal processing section carries out the Fourier transform processing to the digital signal from described A/D converter section input,
Fourier's composition of the 0Hz of the digital signal of exporting from described A/D converter section when being equivalent to from the described plural transmission of described control part output with the whole and described reception of control signal by control signal and from described oscillator outgoing carrier deducts Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculates described noiselike signal.
15. according to claim 11 to arbitrary described pulse radar apparatus in 14, it is characterized in that,
At least described base band part is formed on first substrate, and described high frequency sending part and described high frequency acceptance division are formed on other substrates different from described first substrate,
By transmitting the signal wire of described baseband signal and transmitting described plural transmission, with control signal and described reception, with the blanket line section that is wired to the spininess connector of conducting state of the control line separately of control signal, be located between described first substrate and described other substrates, and, the line of the described control line of separate configuration and the line of described signal wire in described line section, so that the level of signal that is leaked to described signal wire from described control line is within the dynamic range of described A/D converter section.
16. according to claim 11 to arbitrary described pulse radar apparatus in 15, it is characterized in that,
Described high frequency sending part also comprises: according to the first control signal, described carrier wave is cut into to first section of pulse type; And, according to the second control signal, the signal in the cutting of described first section is further cut, thereby is generated second section of described transmitted signal,
Described high frequency acceptance division comprises: from described receiving antenna, input described reception signal and the relevant dependent part to described transmitted signal according to the 3rd control signal acquisition; And, the down coversion section that will be down-converted to base band from the output signal of described dependent part and export described baseband signal, thereby described control part is exported respectively described the first control signal, described the second control signal, described the 3rd control signal to connected/closing control of power supply separately to described first section, described second section, described dependent part
Described digital signal processing section, using described plural transmission by control signal two as described the first control signal and described the second control signal, using described reception by control signal as the 3rd control signal, thereby calculate described reproducing signals.
17. pulse radar apparatus according to claim 16, is characterized in that,
Will be do not export described the first control signal and described the second control signal from described control part arbitrary of described digital signal processing section and while exporting another and described the 3rd control signal from the digital signal of described A/D converter section output as described the first background signal, will be when described control part be only exported arbitrary described the first control signal and described the second control signal from the digital signal of described A/D converter section output as described the second background signal, thereby calculate described reproducing signals.
18. pulse radar apparatus according to claim 16, is characterized in that,
Described digital signal processing section will from described control part do not export described the first control signal and described the second control signal and while exporting described the 3rd control signal from the digital signal of described A/D converter section output as described the first background signal, in the time of will exporting described the first control signal and described the second control signal from described control part from the digital signal of described A/D converter section output as described the second background signal, thereby calculate described reproducing signals.
19. according to the described pulse radar apparatus of claim 17 or 18, it is characterized in that,
When obtaining described the first background signal, make described oscillator outgoing carrier, when obtaining described the second background signal, make described oscillator stop outgoing carrier.
20. according to 18 described pulse radar apparatus after claim 17, it is characterized in that,
When obtaining described the first background signal and while obtaining described the second background signal, make described oscillator outgoing carrier.
21. according to claim 14 to arbitrary described pulse radar apparatus in 16, it is characterized in that,
Described digital signal processing section from described control part export described the first control signal, described the second control signal and described the 3rd control signal and during from described oscillator outgoing carrier the Fourier's composition that is equivalent to 0Hz from the digital signal of described A/D converter section output deduct Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculate described noiselike signal.
22. according to claim 16 to arbitrary described pulse radar apparatus in 20, it is characterized in that,
Described base band part is formed on low frequency corresponding to the working band of this base band part with on substrate,
Described high frequency sending part and described high frequency acceptance division are formed on high frequency corresponding to the working band of this high frequency sending part and high frequency acceptance division with on substrate,
The blanket line section that is wired to the spininess connector of conducting state of each first control line, the second control line, the 3rd control line that transmits the signal wire of described baseband signal and transmit described the first control signal, described the second control signal, described the 3rd control signal is located to described low frequency to be used between substrate with substrate and described high frequency, and, the line of the described control line of separate configuration and the line of described signal wire in described line section, so that the level of signal that is leaked to described signal wire from described control line is in the dynamic range of described A/D converter section.
23. the control method of a pulse radar apparatus, is characterized in that, comprising:
Carrier wave generates step, generates the carrier wave of assigned frequency;
The signal cutting step, cut into described carrier wave pulse type and generate transmitted signal by control signal according to plural transmission;
Forwarding step, using described transmitted signal as electric wave to spatial emission;
Receiving step, receive the reflection wave that described electric wave is reflected by object;
Correlation step, the reception signal received at described receiving step with the control signal acquisition according to reception is relevant to described transmitted signal;
The down coversion step, be down-converted to the output signal of described correlation step base band and export baseband signal;
The A/D switch process, at least input described baseband signal and be converted to digital signal; And
The digital signal processing step, input distance and/or the relative velocity of described object and/or the position angle of described object between described digital signal calculating and described object,
In described digital signal processing step, acquisition described signal cutting step do not export described plural transmission with control signal part or all and export described transmission in addition by control signal and the digital signal that obtains at described A/D converter section when described correlation step is exported described reception by control signal as the first background signal, acquisition is only exported digital signal that described part or all transmission obtains at described A/D switch process when the control signal as the second background signal at described signal cutting step, by described the first background signal and the second background signal addition, thereby calculating reproducing signals, and, from the described plural transmission of described signal cutting step output with the whole of control signal and when described correlation step is exported described reception by control signal and has been carried out described carrier wave generation step the digital signal in described A/D switch process acquisition deduct described reproducing signals, thereby calculating noiselike signal, distance and/or the relative velocity of described object and/or the position angle of described object based between this noiselike signal calculating and described object.
24. the control method of pulse radar apparatus according to claim 23, is characterized in that,
Carry out described carrier wave and generate step when obtaining described the first background signal, do not carry out described carrier wave and generate step when obtaining described the second background signal.
25. the control method of pulse radar apparatus according to claim 23, is characterized in that,
All carry out described carrier wave when obtaining described the first background signal and while obtaining described the second background signal and generate step.
26. the control method according to arbitrary described pulse radar apparatus in claim 23 to 25, is characterized in that,
In described digital signal processing step, the digital signal in described A/D switch process conversion is carried out to the Fourier transform processing,
From the described plural transmission of described signal cutting step output with the whole of control signal and when described correlation step is exported described reception by control signal and has been carried out described carrier wave generation step the Fourier's composition that is equivalent to 0Hz in the digital signal of described A/D switch process acquisition deduct Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculate described noiselike signal.
27. the control method according to arbitrary described pulse radar apparatus in claim 23 to 26, is characterized in that,
Described signal cutting step comprises: thus according to the first control signal, described carrier wave is cut into to the first cutting step of pulse type and the second cutting step that generates transmitted signal according to the second control signal signal that further cutting is cut at described the first cutting step
In described correlation step, obtain the relevant of described reception signal and described transmitted signal according to the 3rd control signal,
In described digital signal processing step, using described plural transmission two signals of control signal as described the first control signal and described the second control signal, use control signal as described the 3rd control signal described reception, thereby calculate described reproducing signals.
28. the control method of pulse radar apparatus according to claim 27, is characterized in that,
In described digital signal processing step, will described signal cutting step do not export any one of described the first control signal and described the second control signal and export another and the digital signal that obtains at described A/D switch process when described correlation step is exported described the 3rd control signal as described the first background signal, the digital signal that will obtain at described A/D switch process when described signal cutting step is only exported arbitrary in described the first control signal and described the second control signal is as described the second background signal, thereby calculates described reproducing signals.
29. the control method of pulse radar apparatus according to claim 27, is characterized in that,
In described digital signal processing step, will described signal cutting step do not export described the first control signal and described the second control signal and the digital signal that obtains at described A/D switch process when described correlation step is exported described the 3rd control signal as described the first background signal, the digital signal will be when described signal cutting step is only exported described the first control signal and described the second control signal obtained at described A/D switch process is as described the second background signal, thereby calculates described reproducing signals.
30. the control method according to claim 28 or 29 described pulse radar apparatus, is characterized in that,
Carry out described carrier wave and generate step when obtaining described the first background signal, do not carry out described carrier wave and generate step when obtaining described the second background signal.
31. the control method according to claim 28 or 29 described pulse radar apparatus, is characterized in that,
All carry out described carrier wave when obtaining described the first background signal and while obtaining described the second background signal and generate step.
32. the control method according to arbitrary described pulse radar apparatus in claim 27 to 31, is characterized in that,
Fourier's composition of the 0Hz of the digital signal when being equivalent to carry out described the first cutting step, described the second cutting step, described correlation step deducts Fourier's composition of the 0Hz that is equivalent to described reproducing signals, thereby calculates described noiselike signal.
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| JP2011064871A JP5480184B2 (en) | 2011-03-23 | 2011-03-23 | Pulse radar apparatus and control method thereof |
| JP2011070482A JP5485213B2 (en) | 2011-03-28 | 2011-03-28 | Pulse radar apparatus and control method thereof |
| JP2011-070482 | 2011-03-28 | ||
| JP2011-080575 | 2011-03-31 | ||
| JP2011080575A JP5460638B2 (en) | 2011-03-31 | 2011-03-31 | Pulse radar apparatus and control method thereof |
| PCT/JP2012/056221 WO2012128087A1 (en) | 2011-03-23 | 2012-03-12 | Pulse radar device and method for controlling same |
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| US20140022114A1 (en) | 2014-01-23 |
| WO2012128087A1 (en) | 2012-09-27 |
| EP2690456B1 (en) | 2017-08-23 |
| EP2690456A4 (en) | 2014-09-10 |
| EP2690456A1 (en) | 2014-01-29 |
| US9223016B2 (en) | 2015-12-29 |
| CN103430041B (en) | 2016-03-23 |
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